Learn to Follow: Lifelong Multi-agent Pathfinding with Decentralized Replanning

This study addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed Follower approach utilizes a combination of a planning algorithm for constructing a long-term plan and reinforcement learning for resolving local conflicts.

Paper: Learn to Follow: Decentralized Lifelong Multi-agent Pathfinding via Planning and Learning

Installation:

pip3 install -r docker/requirements.txt

Installation of ONNX runtime:

wget https://github.com/microsoft/onnxruntime/releases/download/v1.14.1/onnxruntime-linux-x64-1.14.1.tgz \
    && tar -xf onnxruntime-linux-x64-1.14.1.tgz \
    && cp onnxruntime-linux-x64-1.14.1/lib/* /usr/lib/ && cp onnxruntime-linux-x64-1.14.1/include/* /usr/include/

Optionally, you could use the Dockerfile to build the image:

cd docker && sh build.sh

Inference Example:

To execute the Follower algorithm and produce an animation using pre-trained weights, use the following command:

python3 example.py

The animation will be stored in the renders folder.

It's recommended to set environment variable to restrict Numpy CPU threads to 1, avoiding performance issues:

export OMP_NUM_THREADS="1" 
export MKL_NUM_THREADS="1" 
export OPENBLAS_NUM_THREADS="1"

You can adjust the environment and algorithm parameter using arguments. For example:

python3 example.py --map_name wfi_warehouse --num_agents 128
python3 example.py --map_name pico_s00_od20_na32 --num_agents 32 --algorithm FollowerLite

We offer a Google Colab example that simplifies the process:

Training:

To train Follower from scratch, use the following command:

python3 main.py  --actor_critic_share_weights=True --batch_size=16384 --env=PogemaMazes-v0 --exploration_loss_coeff=0.023 --extra_fc_layers=1 --gamma=0.9756 --hidden_size=512 --intrinsic_target_reward=0.01 --learning_rate=0.00022 --lr_schedule=constant --network_input_radius=5 --num_filters=64 --num_res_blocks=8 --num_workers=8 --optimizer=adam --ppo_clip_ratio=0.2   --train_for_env_steps=1000000000 --use_rnn=True

To train FollowerLite from scratch, use the following command:

python3 main.py  --actor_critic_share_weights=True --batch_size=16384 --env=PogemaMazes-v0 --exploration_loss_coeff=0.0156 --extra_fc_layers=0 --gamma=0.9716 --hidden_size=16 --intrinsic_target_reward=0.01 --learning_rate=0.00013 --lr_schedule=kl_adaptive_minibatch --network_input_radius=3 --num_filters=8 --num_res_blocks=1 --num_workers=4 --optimizer=adam --ppo_clip_ratio=0.2     --train_for_env_steps=20000000 --use_rnn=False

The parameters are set to the values used in the paper.

Raw Data

The raw data, comprising the results of our experiments for Follower and FollowerLite, can be downloaded from the following link: Download Raw Data

Citation:

@article{skrynnik2023learn,
  title={Learn to Follow: Decentralized Lifelong Multi-agent Pathfinding via Planning and Learning},
  author={Skrynnik, Alexey and Andreychuk, Anton and Nesterova, Maria and Yakovlev, Konstantin and Panov, Aleksandr},
  journal={arXiv preprint arXiv:2310.01207},
  year={2023}
}