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arXiv · 2407.14931

POGEMA: A Benchmark Platform for Cooperative Multi-Agent Pathfinding

Alexey Skrynnik·Anton Andreychuk·Anatolii Borzilov·Alexander Chernyavskiy·Konstantin Yakovlev·Aleksandr Panov
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Abstract

Multi-agent reinforcement learning (MARL) has recently excelled in solving challenging cooperative and competitive multi-agent problems in various environments, typically involving a small number of agents and full observability. Moreover, a range of crucial robotics-related tasks, such as multi-robot pathfinding, which have traditionally been approached with classical non-learnable methods (e.g., heuristic search), are now being suggested for solution using learning-based or hybrid methods. However, in this domain, it remains difficult, if not impossible, to conduct a fair comparison between classical, learning-based, and hybrid approaches due to the lack of a unified framework that supports both learning and evaluation. To address this, we introduce POGEMA, a comprehensive set of tools that includes a fast environment for learning, a problem instance generator, a collection of predefined problem instances, a visualization toolkit, and a benchmarking tool for automated evaluation. We also introduce and define an evaluation protocol that specifies a range of domain-related metrics, computed based on primary evaluation indicators (such as success rate and path length), enabling a fair multi-fold comparison. The results of this comparison, which involves a variety of state-of-the-art MARL, search-based, and hybrid methods, are presented.

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Alexey Skrynnik, Anton Andreychuk, Anatolii Borzilov, Alexander Chernyavskiy, Konstantin Yakovlev, Aleksandr Panov. 2024-07-20. POGEMA: A Benchmark Platform for Cooperative Multi-Agent Pathfinding. https://arxiv.org/abs/2407.14931

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