Adv-PPO and Adv-PPO+MACER raise worst-case success in decentralized MAPF from 2.5% to 77.5% under observation attacks on 8x8 POGEMA maps with four agents, at under 1% clean-performance cost.
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Robust Multi-Agent Path Finding under Observation Attacks: A Principled Adversarial-Plus-Smoothing Training Recipe
Adv-PPO and Adv-PPO+MACER raise worst-case success in decentralized MAPF from 2.5% to 77.5% under observation attacks on 8x8 POGEMA maps with four agents, at under 1% clean-performance cost.