Neural Algorithmic Reasoners informed Large Language Model for Multi-Agent Path Finding

文章总结与翻译

一、文章主要内容

本文聚焦大语言模型(LLM)在多智能体路径规划(MAPF)任务中表现不佳的问题,提出了名为LLM-NAR的新型框架,旨在提升LLM处理MAPF任务的能力。

MAPF任务要求多个智能体从起始位置导航到目标位置,过程中需避免碰撞且尽量缩短移动时间,在仓库管理、群体控制等现实场景中至关重要。传统解决方法包括基于规则的规划算法(如冲突搜索CBS)和基于学习的策略(如强化学习、图神经网络GNN),但前者计算成本高,后者训练步骤多。而现有LLM在处理MAPF任务时,存在难以理解空间约束、难以制定协作策略等局限。

LLM-NAR框架包含三个核心组件:

  1. MAPF专用LLM模块:设计了针对MAPF任务的提示交互策略,逐步向LLM输入场景描述(智能体当前位置、目标位置、文本地图等),并加入重置机制,当LLM连续多轮生成无效解或完成固定轮次任务后,以当前位置为新起点重启,避免信息丢失或决策偏差。
  2. 基于GNN的神经算法推理器(NAR):先利用CBS生成MAPF任务的最优路径数据,以此为专家策略预训练GNN。GNN通过CNN处理智能体观测数据得到特征向量,再借助图卷积聚合智能体间的关系信息,最终通过多层感知器(MLP)输出预测动作,有效捕捉地图空间结构与智能体间空间关系。
  3. 交叉注意力机制:借鉴多模态任务中的融合思路,将LLM生成的令牌输出与GNN-NAR生成的图表示进行融合。训练时冻结LLM和预训练GNN-NAR的参数,仅优化该机制,通过最小化输出动作与CBS最
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