Distributed Multi-Agent Path Finding (MAPF) integrated with Multi-Agent Reinforcement Learning (MARL) has emerged as a prominent research focus, enabling real-time cooperative decision-making in partially observable environments through inter-agent communication. However, due to insufficient collaborative and perceptual capabilities, existing methods are inadequate for scaling across diverse environmental conditions. To address these challenges, we propose PC2P, a novel distributed MAPF method derived from a Q-learning-based MARL framework. Initially, we introduce a personalized-enhanced communication mechanism based on dynamic graph topology, which ascertains the core aspects of "who" and "what" in interactive process through three-stage operations: selection, generation, and aggregation. Concurrently, we incorporate local crowd perception to enrich agents’ heuristic observation, thereby strengthening the model’s guidance for effective actions via the integration of static spatial constraints and dynamic occupancy changes. To resolve extreme deadlock issues, we propose a region-based deadlock-breaking strategy that leverages expert guidance to implement efficient coordination within confined areas. Experimental results demonstrate that PC2P achieves superior performance compared to state-of-the-art distributed MAPF methods in varied environments. Ablation studies further confirm the effectiveness of each module for overall performance.

Quantization methods for convolutional neural network models can be broadly categorized into post-training quantization (PTQ) and quantization aware training (QAT). While PTQ offers the advantage of requiring only a small portion of the data for quantization, the resulting quantized model may not be as effective as QAT. To address this limitation, this paper proposes a novel quantization function named Attention Round. Unlike traditional quantization function that map 32 bit floating-point value w to nearby quantization levels , Attention Round allows w to be mapped to all possible quantization levels in the entire quantization space, expanding the quantization optimization space . The possibilities of mapping w to different quantization levels are inversely correlated with the distance between w and the quantization levels, regulated by a Gaussian decay function. Furthermore, to tackle the challenge of mixed precision quantization, this paper introduces a lossy coding length measure to assign quantization precision to different layers of the model, eliminating the need for solving a combinatorial optimization problem . Experimental evaluations on various models demonstrate the effectiveness of the proposed method. Notably, for ResNet18 and MobileNetV2 , the PTQ approach achieves comparable quantization performance to QAT while utilizing only 1024 training data and 10 min for the quantization process .