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List<GlobalRobotState> -> List<EgoCentricStateToken>
Transform raw fleet coordinates and goals into normalized, ego-centric vector representations for each robot to achieve translation-invariant planning.
Problem it solves
Raw global coordinates scale poorly and prevent generalized transfer of learned fleet coordination behaviors.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.