{"ID":2876020,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.01630","arxiv_id":"2509.01630","title":"Learning to Coordinate: Distributed Meta-Trajectory Optimization Via Differentiable ADMM-DDP","abstract":"Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global coordination. In this paper, we propose Learning to Coordinate (L2C), a general framework that meta-learns these hyperparameters, modeled by lightweight agent-wise neural networks, to adapt across diverse tasks and agent configurations. L2C differentiates end-to-end through the ADMM-DDP pipeline in a distributed manner. It also enables efficient meta-gradient computation by reusing DDP components such as Riccati recursions and feedback gains. These gradients correspond to the optimal solutions of distributed matrix-valued LQR problems, coordinated across agents via an auxiliary ADMM framework that becomes convex under mild assumptions. Training is further accelerated by truncating iterations and meta-learning ADMM penalty parameters optimized for rapid residual reduction, with provable Lipschitz-bounded gradient errors. On a challenging cooperative aerial transport task, L2C generates dynamically feasible trajectories in high-fidelity simulation using IsaacSIM, reconfigures quadrotor formations for safe 6-DoF load manipulation in tight spaces, and adapts robustly to varying team sizes and task conditions, while achieving up to $88\\%$ faster gradient computation than state-of-the-art methods.","short_abstract":"Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global coordination. In this paper, we propose Learning to Coordinate (L2C), a general framewor...","url_abs":"https://arxiv.org/abs/2509.01630","url_pdf":"https://arxiv.org/pdf/2509.01630v2","authors":"[\"Bingheng Wang\",\"Yichao Gao\",\"Tianchen Sun\",\"Lin Zhao\"]","published":"2025-09-01T17:17:05Z","proceeding":"cs.LG","tasks":"[\"cs.LG\",\"cs.MA\",\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}