arXiv subjects

Konstantin Yakovlev

Publications and source records attributed to Konstantin Yakovlev.

At least 19 recordsLinked to original sources

arXiv2026

Learning to Communicate Locally for Large-Scale Multi-Agent Pathfinding

Multi-agent pathfinding (MAPF) is a widely used abstraction for multi-robot trajectory planning problems, where multiple homogeneous agents move simultaneously within a shared environment. Although solving MAPF optimally is NP-hard, scalable and efficient solvers are critical for real-world applications such as logistics and search-and-rescue. To this end, the research community has proposed various decentralized suboptimal MAPF solvers that leverage machine learning. Such methods frame MAPF (from a single agent perspective) as a Dec-POMDP where at each time step an agent has to decide an action based on the local observation and typically solve the problem via reinforcement learning or imitation learning. We follow the same approach but additionally introduce a learnable communication module tailored to enhance cooperation between agents via efficient feature sharing. We present the Local Communication for Multi-agent Pathfinding (LC-MAPF), a generalizable pre-trained model that applies multi-round communication between neighboring agents to exchange information and improve their coordination. Our experiments show that the introduced method outperforms the existing learning-based MAPF solvers, including IL and RL-based approaches, across diverse metrics in a diverse range of (unseen) test scenarios. Remarkably, the introduced communication mechanism does not compromise LC-MAPF's scalability, a common bottleneck for communication-based MAPF solvers.

cs.AI↗

arXiv2026

MARL-GPT: Foundation Model for Multi-Agent Reinforcement Learning

Recent advances in multi-agent reinforcement learning (MARL) have demonstrated success in numerous challenging domains and environments, but typically require specialized models for each task. In this work, we propose a coherent methodology that makes it possible for a single GPT-based model to learn and perform well across diverse MARL environments and tasks, including StarCraft Multi-Agent Challenge, Google Research Football and POGEMA. Our method, MARL-GPT, applies offline reinforcement learning to train at scale on the expert trajectories (400M for SMACv2, 100M for GRF, and 1B for POGEMA) combined with a single transformer-based observation encoder that requires no task-specific tuning. Experiments show that MARL-GPT achieves competitive performance compared to specialized baselines in all tested environments. Thus, our findings suggest that it is, indeed, possible to build a multi-task transformer-based model for a wide variety of (significantly different) multi-agent problems paving the way to the fundamental MARL model (akin to ChatGPT, Llama, Mistral etc. in natural language modeling).

cs.AI↗

arXiv2026

A Standards-Aligned Coordination Framework for Edge-Enhanced Collaborative Healthcare in 6G Networks

Mission-critical healthcare applications including real-time intensive care monitoring, ambulance-to-hospital orchestration, and distributed medical imaging inference require workflow-level, time-bounded coordination across heterogeneous devices, edge servers, and network control entities. While current 3GPP and O-RAN standards excel at per-device control and quality-of-service enforcement, they do not natively expose abstractions for workflow-level coordination under strict clinical timing constraints, leaving this capability to fragile, application-specific overlays. This article outlines the Collective Adaptive Intelligence Plane (CAIP) as a standards-aligned coordination framework that addresses this abstraction gap without introducing new protocol layers. CAIP is realized through minimal, backward-compatible coordination profiles anchored to existing RRC, QoS/SDAP, and O-RAN E2 interfaces, enabling workflow-scoped coordination context binding, deadline-aware coordination pacing, semantic flow association, and privacy-preserving data locality across distributed clinical entities. We analyze the structural limitations of existing standards, present a concrete interface mapping to 3GPP and O-RAN mechanisms, illustrate deployment through a representative ICU coordination scenario, and outline a phased standardization roadmap from proof-of-concept xApp deployment to AI-native 6G specification evolution. The proposed framework is incrementally deployable on current 5G Advanced infrastructure and provides a principled migration path toward workflow-level coordination abstraction as a first-class capability in future 6G healthcare networks.

cs.NI↗

arXiv2026

UPath: Universal Planner Across Topological Heterogeneity For Grid-Based Pathfinding

The performance of search algorithms for grid-based pathfinding, e.g. A*, critically depends on the heuristic function that is used to focus the search. Recent studies have shown that informed heuristics that take the positions/shapes of the obstacles into account can be approximated with the deep neural networks. Unfortunately, the existing learning-based approaches mostly rely on the assumption that training and test grid maps are drawn from the same distribution (e.g., city maps, indoor maps, etc.) and perform poorly on out-of-distribution tasks. This naturally limits their application in practice when often a universal solver is needed that is capable of efficiently handling any problem instance. In this work, we close this gap by designing an universal heuristic predictor: a model trained once, but capable of generalizing across a full spectrum of unseen tasks. Our extensive empirical evaluation shows that the suggested approach halves the computational effort of A* by up to a factor of 2.2, while still providing solutions within 3% of the optimal cost on average altogether on the tasks that are completely different from the ones used for training $\unicode{x2013}$ a milestone reached for the first time by a learnable solver.

cs.LG↗

arXiv2025

Implicit score matching meets denoising score matching: improved rates of convergence and log-density Hessian estimation

We study the problem of estimating the score function using both implicit score matching and denoising score matching. Assuming that the data distribution exhibiting a low-dimensional structure, we prove that implicit score matching is able not only to adapt to the intrinsic dimension, but also to achieve the same rates of convergence as denoising score matching in terms of the sample size. Furthermore, we demonstrate that both methods allow us to estimate log-density Hessians without the curse of dimensionality by simple differentiation. This justifies convergence of ODE-based samplers for generative diffusion models. Our approach is based on Gagliardo-Nirenberg-type inequalities relating weighted $L^2$-norms of smooth functions and their derivatives.

math.ST↗

arXiv2025

Simultaneous Approximation of the Score Function and Its Derivatives by Deep Neural Networks

We present a theory for simultaneous approximation of the score function and its derivatives, enabling the handling of data distributions with low-dimensional structure and unbounded support. Our approximation error bounds match those in the literature while relying on assumptions that relax the usual bounded support requirement. Crucially, our bounds are free from the curse of dimensionality. Moreover, we establish approximation guarantees for derivatives of any prescribed order, extending beyond the commonly considered first-order setting.

math.NA↗

arXiv2025

Approximation Capabilities of Feedforward Neural Networks with GELU Activations

We derive an approximation error bound that holds simultaneously for a function and all its derivatives up to any prescribed order. The bounds apply to elementary functions, including multivariate polynomials, the exponential function, and the reciprocal function, and are obtained using feedforward neural networks with the Gaussian Error Linear Unit (GELU) activation. In addition, we report the network size, weight magnitudes, and behavior at infinity. Our analysis begins with a constructive approximation of multiplication, where we prove the simultaneous validity of error bounds over domains of increasing size for a given approximator. Leveraging this result, we obtain approximation guarantees for division and the exponential function, ensuring that all higher-order derivatives of the resulting approximators remain globally bounded.

cs.LG↗

arXiv2025

CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance

Decentralized collision avoidance is a core challenge for scalable multi-robot systems. A promising approach to this problem is Model Predictive Path Integral (MPPI) control - a framework that naturally handles arbitrary motion models and provides strong theoretical guarantees. Still, in practice an MPPI-based controller may produce suboptimal trajectories because its performance relies heavily on uninformed random sampling. We introduce CoRL-MPPI, a fusion of Cooperative Reinforcement Learning and MPPI that addresses this limitation. We train an action policy, approximated by a deep neural network, in simulation to learn local cooperative collision-avoidance behaviors. This learned policy is then embedded into the MPPI framework to guide its sampling distribution, biasing it toward more intelligent and cooperative actions in scenarios that may differ substantially from those used during training. Moreover, CoRL-MPPI preserves the theoretical guarantees of regular MPPI. We evaluate our approach in dense, dynamic setups against classical and learning-based state-of-the-art baselines. Our results demonstrate that CoRL-MPPI outperforms competing methods and significantly improves navigation efficiency, measured by success rate and delay, as well as safety, enabling agile and robust multi-robot navigation.

cs.RO↗

arXiv2025

Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral

Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for both kinematic constraints, sensing and action execution noise. In this paper, we propose a novel approach that integrates the Model Predictive Path Integral (MPPI) with a probabilistic adaptation of Optimal Reciprocal Collision Avoidance. Our method ensures safe and efficient multi-agent navigation by incorporating probabilistic safety constraints directly into the MPPI sampling process via a Second-Order Cone Programming formulation. This approach enables agents to operate independently using local noisy observations while maintaining safety guarantees. We validate our algorithm through extensive simulations with differential-drive robots and benchmark it against state-of-the-art methods, including ORCA-DD and B-UAVC. Results demonstrate that our approach outperforms them while achieving high success rates, even in densely populated environments. Additionally, validation in the Gazebo simulator confirms its practical applicability to robotic platforms. A source code is available at http://github.com/PathPlanning/MPPI-Collision-Avoidance.

cs.RO↗

arXiv2025

Advancing Learnable Multi-Agent Pathfinding Solvers with Active Fine-Tuning

Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard, scalable, and efficient, solvers are vital for real-world applications like logistics, search-and-rescue, etc. To this end, decentralized suboptimal MAPF solvers that leverage machine learning have come on stage. Building on the success of the recently introduced MAPF-GPT, a pure imitation learning solver, we introduce MAPF-GPT-DDG. This novel approach effectively fine-tunes the pre-trained MAPF model using centralized expert data. Leveraging a novel delta-data generation mechanism, MAPF-GPT-DDG accelerates training while significantly improving performance at test time. Our experiments demonstrate that MAPF-GPT-DDG surpasses all existing learning-based MAPF solvers, including the original MAPF-GPT, regarding solution quality across many testing scenarios. Remarkably, it can work with MAPF instances involving up to 1 million agents in a single environment, setting a new milestone for scalability in MAPF domains.

cs.AI↗

arXiv2025

PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps

We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans. The method is designed for resource-constrained platforms and emphasizes real-time performance and resilience to common urban sensing challenges. It provides accurate localization in compact topological maps using global place recognition and an original scan matching technique. Experiments on standard benchmarks and on an embedded platform demonstrate the effectiveness of our approach. Our method achieves a 99\% success rate on the large-scale ITLP-Campus dataset while running at 150 ms per localization and using a 20 MB map for localization. We highlight three main contributions: (1) a compact representation for city-scale localization; (2) a novel curb detection and scan matching pipeline operating directly on raw LiDAR points; (3) a thorough evaluation of our method with performance analysis.

cs.RO↗

arXiv2025

Multi-Agent Path Finding For Large Agents Is Intractable

The multi-agent path finding (MAPF) problem asks to find a set of paths on a graph such that when synchronously following these paths the agents never encounter a conflict. In the most widespread MAPF formulation, the so-called Classical MAPF, the agents sizes are neglected and two types of conflicts are considered: occupying the same vertex or using the same edge at the same time step. Meanwhile in numerous practical applications, e.g. in robotics, taking into account the agents' sizes is vital to ensure that the MAPF solutions can be safely executed. Introducing large agents yields an additional type of conflict arising when one agent follows an edge and its body overlaps with the body of another agent that is actually not using this same edge (e.g. staying still at some distinct vertex of the graph). Until now it was not clear how harder the problem gets when such conflicts are to be considered while planning. Specifically, it was known that Classical MAPF problem on an undirected graph can be solved in polynomial time, however no complete polynomial-time algorithm was presented to solve MAPF with large agents. In this paper we, for the first time, establish that the latter problem is NP-hard and, thus, if P!=NP no polynomial algorithm for it can, unfortunately, be presented. Our proof is based on the prevalent in the field technique of reducing the seminal 3SAT problem (which is known to be an NP-complete problem) to the problem at hand. In particular, for an arbitrary 3SAT formula we procedurally construct a dedicated graph with specific start and goal vertices and show that the given 3SAT formula is satisfiable iff the corresponding path finding instance has a solution.

cs.MA↗

arXiv2025

Generalization error bound for denoising score matching under relaxed manifold assumption

We examine theoretical properties of the denoising score matching estimate. We model the density of observations with a nonparametric Gaussian mixture. We significantly relax the standard manifold assumption allowing the samples step away from the manifold. At the same time, we are still able to leverage a nice distribution structure. We derive non-asymptotic bounds on the approximation and generalization errors of the denoising score matching estimate. The rates of convergence are determined by the intrinsic dimension. Furthermore, our bounds remain valid even if we allow the ambient dimension grow polynomially with the sample size.

cs.LG↗

arXiv2024

Decentralized Unlabeled Multi-Agent Navigation in Continuous Space

In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the existence of the centralized planner (or controller) and limit the agents' moves to a predefined graph of locations and transitions between them, in this work we focus on the decentralized scenarios, when each agent acts individually relying only on local observations/communications and is free to move in arbitrary direction at any time. Our iterative approach involves agents individually selecting goals, exchanging them, planning paths, and at each time step choose actions that balance between progressing along the paths and avoiding collisions. The proposed method is shown to be complete under specific assumptions on how agents progress towards their current goals, and our empirical evaluation demonstrates its superiority over a baseline decentralized navigation approach in success rate (i.e. is able to solve more problem instances under a given time limit) and a comparison with the centralized TSWAP algorithm reveals its efficiency in minimizing trajectory lengths for mission accomplishment.

cs.MA↗

arXiv2024

Safe Interval Randomized Path Planning For Manipulators

Planning safe paths in 3D workspace for high DoF robotic systems, such as manipulators, is a challenging problem, especially when the environment is populated with the dynamic obstacles that need to be avoided. In this case the time dimension should be taken into account that further increases the complexity of planning. To mitigate this issue we suggest to combine safe-interval path planning (a prominent technique in heuristic search) with the randomized planning, specifically, with the bidirectional rapidly-exploring random trees (RRT-Connect) - a fast and efficient algorithm for high-dimensional planning. Leveraging a dedicated technique of fast computation of the safe intervals we end up with an efficient planner dubbed SI-RRT. We compare it with the state of the art and show that SI-RRT consistently outperforms the competitors both in runtime and solution cost. Our implementation of SI-RRT is publicly available at https://github.com/PathPlanning/ManipulationPlanning-SI-RRT

cs.RO↗

arXiv2024

MeshA*: Efficient Path Planning With Motion Primitives

We study a path planning problem where the possible move actions are represented as a finite set of motion primitives aligned with the grid representation of the environment. That is, each primitive corresponds to a short kinodynamically-feasible motion of an agent and is represented as a sequence of the swept cells of a grid. Typically, heuristic search, i.e. A*, is conducted over the lattice induced by these primitives (lattice-based planning) to find a path. However, due to the large branching factor, such search may be inefficient in practice. To this end, we suggest a novel technique rooted in the idea of searching over the grid cells (as in vanilla A*) simultaneously fitting the possible sequences of the motion primitives into these cells. The resultant algorithm, MeshA*, provably preserves the guarantees on completeness and optimality, on the one hand, and is shown to notably outperform conventional lattice-based planning (x1.5-x2 decrease in the runtime), on the other hand.

cs.RO↗

arXiv2024

Toolken+: Improving LLM Tool Usage with Reranking and a Reject Option

The recently proposed ToolkenGPT tool learning paradigm demonstrates promising performance but suffers from two major issues: first, it cannot benefit from tool documentation, and second, it often makes mistakes in whether to use a tool at all. We introduce Toolken+ that mitigates the first problem by reranking top $k$ tools selected by ToolkenGPT and the second problem with a special "Reject" option such that the model will generate a vocabulary token if "Reject" is ranked first. We demonstrate the effectiveness of Toolken+ on multistep numerical reasoning and tool selection tasks.

cs.CL↗

arXiv2024

NavTopo: Leveraging Topological Maps For Autonomous Navigation Of a Mobile Robot

Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected by odometry error accumulation and consumes a lot of memory and computations in large environments. Another approach to mapping is the usage of topological properties, e.g. adjacency of locations in the environment. Topological maps are less prone to odometry error accumulation and high resources consumption, and also enable fast path planning because of the graph sparsity. Based on this idea, we proposed NavTopo - a full navigation pipeline based on topological map and two-level path planning. The pipeline localizes in the graph by matching neural network descriptors and 2D projections of the input point clouds, which significantly reduces memory consumption compared to metric and topological point cloud-based approaches. We test our approach in a large indoor photo-relaistic simulated environment and compare it to a metric map-based approach based on popular metric mapping method RTAB-MAP. The experimental results show that our topological approach significantly outperforms the metric one in terms of performance, keeping proper navigational efficiency.

cs.RO↗