Yining Ma
Publications
Learning-guided Prioritized Planning for Lifelong Multi-Agent Path Finding in Warehouse Automation
Lifelong Multi-Agent Path Finding (MAPF) is critical for modern warehouse automation, which requires multiple robots to continuously navigate conflict-free paths to optimize the overall system throughput. However, the complexity of warehouse environments and the long-term dynamics of lifelong MAPF often demand costly adaptations to classical search-based solvers. While machine learning methods have been explored, their superiority over search-based methods remains inconclusive. In this paper, we introduce Reinforcement Learning (RL) guided Rolling Horizon Prioritized Planning (RL-RH-PP), the first framework integrating RL with search-based planning for lifelong MAPF. Specifically, we leverage classical Prioritized Planning (PP) as a backbone for its simplicity and flexibility in integrating with a learning-based priority assignment policy. By formulating dynamic priority assignment as a Partially Observable Markov Decision Process (POMDP), RL-RH-PP exploits the sequential decision-making nature of lifelong planning while delegating complex spatial-temporal interactions among agents to reinforcement learning. An attention-based neural network autoregressively decodes priority orders on-the-fly, enabling efficient sequential single-agent planning by the PP planner. Evaluations in realistic warehouse simulations show that RL-RH-PP achieves the highest total throughput among baselines and generalizes effectively across agent densities, planning horizons, and warehouse layouts. Our interpretive analyses reveal that RL-RH-PP proactively prioritizes congested agents and strategically redirects agents from congestion, easing traffic flow and boosting throughput. These findings highlight the potential of learning-guided approaches to augment traditional heuristics in modern warehouse automation.
A General Neural Backbone for Mixed-Integer Linear Optimization via Dual Attention
Mixed-integer linear programming (MILP), a widely used modeling framework for combinatorial optimization, are central to many scientific and engineering applications, yet remains computationally challenging at scale. Recent advances in deep learning address this challenge by representing MILP instances as variable-constraint bipartite graphs and applying graph neural networks (GNNs) to extract latent structural patterns and enhance solver efficiency. However, this architecture is inherently limited by the local-oriented mechanism, leading to restricted representation power and hindering neural approaches for MILP. Here we present an attention-driven neural architecture that learns expressive representations beyond the pure graph view. A dual-attention mechanism is designed to perform parallel self- and cross-attention over variables and constraints, enabling global information exchange and deeper representation learning. We apply this general backbone to various downstream tasks at the instance level, element level, and solving state level. Extensive experiments across widely used benchmarks show consistent improvements of our approach over state-of-the-art baselines, highlighting attention-based neural architectures as a powerful foundation for learning-enhanced mixed-integer linear optimization.