@article{differentiableenvironmenttrajectorycoopt,
  title = {Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation},
  author = {Zhan Gao and Gabriele Fadini and Stelian Coros and Amanda Prorok},
  year = {2026},
  eprint = {2604.06972},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.06972},
}