Dylan M. Asmar

2 accepted papers

2026

Efficient Multiagent Planning via Shared Action Suggestions

AAAI 2026technical

Decentralized partially observable Markov decision processes with communication (Dec-POMDP-Com) provide a framework for multiagent decision making under uncertainty, but the NEXP-complete complexity for finite-horizon problems renders solutions intractable in general. While sharing actions and obser

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2023

Model Predictive Optimized Path Integral Strategies

Dylan M. Asmar, Ransalu Senanayake, Shawn Manuel, Mykel J. Kochenderfer

ICRA 2023poster

We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence. This reformation allows for the implementation of adaptive importance sampling (AIS) algorithms into the original importance sampling step w…

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