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Hamsa Balakrishnan

4 accepted papers

2025

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

Jasmine Jerry Aloor, Jason Jangho Choi, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire Tomlin
RSS 2025poster

Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety guarantees. Traditional control methods, such as reachability and cont…

Cited by 0PDF ↗Scholar ↗
2024

Long-Horizon Planning for Multi-Agent Robots in Partially Observable Environments

Siddharth Nayak, Adelmo Morrison Orozco, Marina Ten Have, Jackson Zhang, Vittal Thirumalai, Darren Chen +7
NeurIPS 2024poster

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge and handcrafted rules, LMs generalize from diverse data and…

Cited by 2Source ↗PDF ↗code ↗Scholar ↗
2023

Scalable Multi-Agent Reinforcement Learning through Intelligent Information Aggregation

Siddharth Nayak, Kenneth Choi, Wenqi Ding, Sydney Dolan, Karthik Gopalakrishnan, Hamsa Balakrishnan
ICML 2023poster

We consider the problem of multi-agent navigation and collision avoidance when observations are limited to the local neighborhood of each agent. We propose InforMARL, a novel architecture for multi-agent reinforcement learning (MARL) which uses local information intelligently to compute paths for al…

Cited by 33Source ↗PDF ↗code ↗Scholar ↗
2022

NICE: Robust Scheduling through Reinforcement Learning-Guided Integer Programming

Luke Kenworthy, Siddharth Nayak, Christopher Chin, Hamsa Balakrishnan
AAAI 2022technical

Integer programs provide a powerful abstraction for representing a wide range of real-world scheduling problems. Despite their ability to model general scheduling problems, solving large-scale integer programs (IP) remains a computational challenge in practice. The incorporation of more complex obje…

Cited by 8Source ↗PDF ↗code ↗Scholar ↗