MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale

Abstract

Multi-agent pathfinding (MAPF) is a problem that generally requires finding collision-free paths for multiple agents in a shared environment. Solving MAPF optimally, even under restrictive assumptions, is NP-hard, yet efficient solutions for this problem are critical for numerous applications, such as automated warehouses and transportation systems. Recently, learning-based approaches to MAPF have gained attention, particularly those leveraging deep reinforcement learning. Typically, such learning-based MAPF solvers are augmented with additional components like single-agent planning or communication. Orthogonally, in this work we rely solely on imitation learning that leverages a large dataset of expert MAPF solutions and transformer-based neural network to create a foundation model for MAPF called MAPF-GPT. The latter is capable of generating actions without additional heuristics or communication. MAPF-GPT demonstrates zero-shot learning abilities when solving the MAPF problems that are not present in the training dataset. We show that MAPF-GPT is able to outperform the state-of-the-art learnable MAPF solvers on a diverse range of problem instances and is computationally efficient during inference.