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TrajectoryHistory + Goals -> CoordinatedFutureTrajectories
Predict future collision-free paths for multiple robots by applying self-attention across historical trajectory tokens and current goals.
Problem it solves
Independently planned trajectories lead to frequent deadlocks and collisions in dense warehouse environments.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.