arXiv subjects

Romina Garcia Camargo

Publications and source records attributed to Romina Garcia Camargo.

8 recordsLinked to original sources

arXiv2026

A Scalable Multi-Robot Framework for Decentralized and Asynchronous Perception-Action-Communication Loops

We develop a decentralized Perception-Action-Communication (PAC) system for multi-robot teams that enables them to collaborate in large scale, outdoor environments. Our system natively supports deployments at any scale by leveraging a graph neural network (GNN) to diffuse information hop-by-hop across the fleet's network. This achieves global collaboration from individual robots limited to local sensing and communication. Fully asynchronous, the core modules of PAC: perception, inter-robot communication, message aggregation and action are clocked at different frequencies with information flowing between them through buffers. We implement the PAC system as a series of highly extensible ROS2 nodes to serve as the foundational infrastructure for deployable swarm systems. PAC is validated in the real world with outdoor experiments with up to N=20 quadrotor robots and in simulations based on real-world data with up to N=100. These validations show that our system upholds crucial properties for field-deployable robot collectives: scalability, resiliency and repeatability.

cs.RO↗

arXiv2026

Controlling Collectives of AI Agents in Reasoning Space with Spatial Transformers

Large Language Models (LLMs) introduce an exciting new paradigm for planning and navigation in robotics, but fail on even simple multi-robot tasks as team sizes grow. We propose COMPASS, a scalable, decentralized multi-robot architecture for controlling large collectives of agentic robots with reasoning space feedback control. Feedback is generated locally on each robot by a spatial transformer which aggregates multi-hop messages across the fleet into a learned feedback token. Our experiments find that collectives of language models demonstrate performance gains from structured diversity of the input command, which can cancel biases; an advantage that is held across scale. Compared against a centralized frontier LLM policy and a language-only communication ablation, we find that the coupled design of COMPASS decisively produces cohesive flocking formations that accurately fly the commanded intent. We show that reasoning feedback works best when composed with a compact learned token. Our ablations show that hand engineered feedback with raw state appearing in the language channel obliterates cohesion. COMPASS generalizes zero-shot to unseen instructions of ambiguous meaning while commanding flocks up to 16 times its training scale, flying up to 1024 robots under natural language commands.

cs.RO↗

arXiv2026

Scalability of Graph Neural Network Policies in Wireless Communication Networks

Graph Neural Networks (GNNs) offer scalable solutions for wireless resource allocation, yet existing formal performance guarantees across varying scales for spatial and sparse graphs do not directly apply to these settings. Scalability theories rely on dense graphon limits or continuous manifold approximations, both of which fail under the sparse, bounded-degree regimes and Euclidean metric constraints of physical wireless environments. This paper establishes a theoretical framework for GNN transferability over sparse Random Geometric Graphs (RGGs), capturing distance-dependent channel decay and spatial interference. We model sparse RGGs as spatial perturbations of regular Deterministic Grid Graphs (DGGs) and employ spatial windowing operators to compare networks across differing scales. Assuming Lipschitz continuity of GNN architectures and signal stationarity, we prove scalability over DGGs and bound same-scale transferability between DGGs and RGGs. Combining these results establishes formal scalability bounds across sparse RGG topologies. Finally, we extend this framework to conflict graph models, deriving equivalent scalability guarantees for link-level resource allocation policies. We verify our results for scalability with two experiment settings: power allocation and wireless link scheduling. The simulations show GNNs exhibit the expected scalable behavior, and analyze the relevance of our theoretical assumptions in practical deployment.

eess.SP↗

arXiv2026

Long-Horizon Wireless Link Scheduling with State-Augmented Graph Neural Networks

We address optimal link scheduling in large-scale wireless networks. The goal is to schedule transmissions over a time horizon so that to maximize sum rate while ensuring that average rates of each customer attain a minimum rate requirement. To this end, we formulate a constrained optimization problem and solve it using Lagrangian duality. Common primal-dual approaches lead to time invariant policies. Our constraint requires all links transmit a fraction of the time while avoiding interference, which calls for time-varying policies across time slots. We propose an iterative algorithm to sample optimal sequences of schedules and dual variables. The scheduling decisions are parameterized using a Graph Neural Network. We incorporate state-augmentation techniques to learn said parameterization, introducing dual variables as dynamic inputs to the policy. This augmentation enables the GNN to adapt scheduling decisions over time, balancing constraint satisfaction with performance maximization. We validate our approach through extensive numerical simulations, benchmarking against several baselines and considering varying constraint levels.

eess.SP↗

arXiv2026

Limit Analysis of Graph Neural Networks with Wireless Conflict Graphs

Graph Neural Networks (GNNs) have emerged as a powerful tool for wireless resource allocation that leverages the underlying graph structure of communication networks. Their transferability property enables models trained on small-scale graphs to generalize to large-scale deployments with little performance deterioration, a desirable property for currently growing networks. Wireless networks are sparse regimes, where a single node is connected to a small number of other users. This work establishes theoretical results for transferability of GNNs over graphs derived from sparse Random Geometric Graphs (RGGs). In particular, we focus on conflict graphs of RGGs used to model interference among links. Our approach considers the closeness between RGGs and Deterministic Grid Graphs (DGG) to establish bounds in the performance loss when a model is transferred across scales. We validate our theoretical findings through the problem of link scheduling, demonstrating that our learned policies consistently outperform existing benchmarks at scale. Finally, we examine the impact of our theoretical assumptions on empirical performance.

cs.LG↗

arXiv2026

Scalable Multi Agent Diffusion Policies for Coverage Control

We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the interdependencies between agents' actions. Each robot conditions policy sampling on a fused representation of its own observations and perceptual embeddings received from peers. To evaluate this approach, we task a team of holonomic robots piloted by MADP to address coverage control-a canonical multi agent navigation problem. The policy is trained via imitation learning from a clairvoyant expert on the coverage control problem, with the diffusion process parameterized by a spatial transformer architecture to enable decentralized inference. We evaluate the system under varying numbers, locations, and variances of importance density functions, capturing the robustness demands of real-world coverage tasks. Experiments demonstrate that our model inherits valuable properties from diffusion models, generalizing across agent densities and environments, and consistently outperforming state-of-the-art baselines.

cs.RO↗

arXiv2025

Graph Neural Networks in Large Scale Wireless Communication Networks: Scalability Across Random Geometric Graphs

The growing complexity of wireless systems has accelerated the move from traditional methods to learning-based solutions. Graph Neural Networks (GNNs) are especially well-suited here, since wireless networks can be naturally represented as graphs. A key property of GNNs is transferability: models trained on one graph often generalize to much larger graphs with little performance loss. While empirical studies have shown that GNN-based wireless policies transfer effectively, existing theoretical guarantees do not capture this phenomenon. Most works focus on dense graphs where node degrees scale with network size, an assumption that fails in wireless systems. In this work, we provide a formal theoretical foundation for transferability on Random Geometric Graphs (RGGs), a sparse and widely used model of wireless networks. We further validate our results through numerical experiments on power allocation, a fundamental resource management task.

eess.SP↗

arXiv2025

Wireless Link Scheduling with State-Augmented Graph Neural Networks

We consider the problem of optimal link scheduling in large-scale wireless ad hoc networks. We specifically aim for the maximum long-term average performance, subject to a minimum transmission requirement for each link to ensure fairness. With a graph structure utilized to represent the conflicts of links, we formulate a constrained optimization problem to learn the scheduling policy, which is parameterized with a graph neural network (GNN). To address the challenge of long-term performance, we use the state-augmentation technique. In particular, by augmenting the Lagrangian dual variables as dynamic inputs to the scheduling policy, the GNN can be trained to gradually adapt the scheduling decisions to achieve the minimum transmission requirements. We verify the efficacy of our proposed policy through numerical simulations and compare its performance with several baselines in various network settings.

eess.SP↗