代码空间策略搜索用于多智能体路径规划

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Abstract:Developing coordination policies for complex multi-agent systems relies on either labor-intensive algorithm design or opaque task-specific reinforcement learning. With recent advances in autonomous coding agents, we show that policy search directly in code space offers a compelling third path that combines automated optimization with explicit interpretability. We investigate a human-directed workflow in which coding agents iteratively propose, implement, evaluate, diagnose, and eventually refine algorithms guided by simulation feedback and explicit correctness verification. We conducted two case studies and found that this workflow robustly outperformed any manually engineered solutions. On a challenging map in the 2024 League of Robot Runners competition, a two-day search discovered a policy that exceeds the stronger locally reproduced competition entry by 35.0% on the densest instance and generalizes to unseen map instances. In simulated real-world warehouses with irregular lanes, continuous robot geometry, and asynchronous motion, a week-long search discovered an entirely new class of multi-agent pathfinding algorithm that outperforms a calibrated proprietary solution in throughput by 58.9%. Under stated assumptions, we further prove that the new algorithm is collision-free and completes, in finite time, every accepted goal that is not withdrawn or replaced. Together, the studies show that policy search in code space powered by state-of-the-art coding agents offers a highly competitive path to building real engineering solutions that are both effective and analytically tractable.

Submission history

From: Fangyu Wu [view email]
[v1] Mon, 19 Oct 2026 07:39:25 UTC (2,254 KB)
[v2] Tue, 20 Oct 2026 03:42:05 UTC (2,237 KB)