Grasper: A Generalist Pursuer for Pursuit-Evasion Problems
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arXiv
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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| author | Li, Pengdeng Li, Shuxin Wang, Xinrun Cerny, Jakub Zhang, Youzhi McAleer, Stephen Chan, Hau An, Bo |
| author_facet | Li, Pengdeng Li, Shuxin Wang, Xinrun Cerny, Jakub Zhang, Youzhi McAleer, Stephen Chan, Hau An, Bo |
| contents | Pursuit-evasion games (PEGs) model interactions between a team of pursuers and an evader in graph-based environments such as urban street networks. Recent advancements have demonstrated the effectiveness of the pre-training and fine-tuning paradigm in PSRO to improve scalability in solving large-scale PEGs. However, these methods primarily focus on specific PEGs with fixed initial conditions that may vary substantially in real-world scenarios, which significantly hinders the applicability of the traditional methods. To address this issue, we introduce Grasper, a GeneRAlist purSuer for Pursuit-Evasion pRoblems, capable of efficiently generating pursuer policies tailored to specific PEGs. Our contributions are threefold: First, we present a novel architecture that offers high-quality solutions for diverse PEGs, comprising critical components such as (i) a graph neural network (GNN) to encode PEGs into hidden vectors, and (ii) a hypernetwork to generate pursuer policies based on these hidden vectors. As a second contribution, we develop an efficient three-stage training method involving (i) a pre-pretraining stage for learning robust PEG representations through self-supervised graph learning techniques like GraphMAE, (ii) a pre-training stage utilizing heuristic-guided multi-task pre-training (HMP) where heuristic-derived reference policies (e.g., through Dijkstra's algorithm) regularize pursuer policies, and (iii) a fine-tuning stage that employs PSRO to generate pursuer policies on designated PEGs. Finally, we perform extensive experiments on synthetic and real-world maps, showcasing Grasper's significant superiority over baselines in terms of solution quality and generalizability. We demonstrate that Grasper provides a versatile approach for solving pursuit-evasion problems across a broad range of scenarios, enabling practical deployment in real-world situations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_12626 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Grasper: A Generalist Pursuer for Pursuit-Evasion Problems Li, Pengdeng Li, Shuxin Wang, Xinrun Cerny, Jakub Zhang, Youzhi McAleer, Stephen Chan, Hau An, Bo Artificial Intelligence Computer Science and Game Theory Multiagent Systems Pursuit-evasion games (PEGs) model interactions between a team of pursuers and an evader in graph-based environments such as urban street networks. Recent advancements have demonstrated the effectiveness of the pre-training and fine-tuning paradigm in PSRO to improve scalability in solving large-scale PEGs. However, these methods primarily focus on specific PEGs with fixed initial conditions that may vary substantially in real-world scenarios, which significantly hinders the applicability of the traditional methods. To address this issue, we introduce Grasper, a GeneRAlist purSuer for Pursuit-Evasion pRoblems, capable of efficiently generating pursuer policies tailored to specific PEGs. Our contributions are threefold: First, we present a novel architecture that offers high-quality solutions for diverse PEGs, comprising critical components such as (i) a graph neural network (GNN) to encode PEGs into hidden vectors, and (ii) a hypernetwork to generate pursuer policies based on these hidden vectors. As a second contribution, we develop an efficient three-stage training method involving (i) a pre-pretraining stage for learning robust PEG representations through self-supervised graph learning techniques like GraphMAE, (ii) a pre-training stage utilizing heuristic-guided multi-task pre-training (HMP) where heuristic-derived reference policies (e.g., through Dijkstra's algorithm) regularize pursuer policies, and (iii) a fine-tuning stage that employs PSRO to generate pursuer policies on designated PEGs. Finally, we perform extensive experiments on synthetic and real-world maps, showcasing Grasper's significant superiority over baselines in terms of solution quality and generalizability. We demonstrate that Grasper provides a versatile approach for solving pursuit-evasion problems across a broad range of scenarios, enabling practical deployment in real-world situations. |
| title | Grasper: A Generalist Pursuer for Pursuit-Evasion Problems |
| topic | Artificial Intelligence Computer Science and Game Theory Multiagent Systems |
| url | https://arxiv.org/abs/2404.12626 |