POGEMA: A Benchmark Platform for Cooperative Multi-Agent Navigation
Authors: name: Alexey Skrynnik; name: Anton Andreychuk; name: Anatolii Borzilov; name: Alexander Chernyavskiy; name: Konstantin Yakovlev; name: Aleksandr Panov
Published: 2024-07-20 16:37:21

Abstract: Multi-agent reinforcement learning (MARL) has recently excelled in solving
challenging cooperative and competitive multi-agent problems in various
environments with, mostly, few agents and full observability. Moreover, a range
of crucial robotics-related tasks, such as multi-robot navigation and obstacle
avoidance, that have been conventionally approached with the classical
non-learnable methods (e.g., heuristic search) is currently suggested to be
solved by the learning-based or hybrid methods. Still, in this domain, it is
hard, not to say impossible, to conduct a fair comparison between classical,
learning-based, and hybrid approaches due to the lack of a unified framework
that supports both learning and evaluation. To this end, we introduce POGEMA, a
set of comprehensive tools that includes a fast environment for learning, a
generator of problem instances, the collection of pre-defined ones, a
visualization toolkit, and a benchmarking tool that allows automated
evaluation. We introduce and specify an evaluation protocol defining a range of
domain-related metrics computed on the basics of the primary evaluation
indicators (such as success rate and path length), allowing a fair multi-fold
comparison. The results of such a comparison, which involves a variety of
state-of-the-art MARL, search-based, and hybrid methods, are presented.