Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial for applications ranging from aerial swarms to warehouse automation. Solving MAPF is NP-hard so learning-based approaches for MAPF have gained attention, particularly those leveraging deep neural networks. Nonetheless, despite the community’s continued efforts, all learning-based MAPF planners still rely on decentralized planning due to variability in the number of agents and map sizes. We have developed the first centralized learning-based policy for MAPF problem called RAILGUN. RAILGUN is not an agent-based policy but a map-based policy. By leveraging a CNN-based architecture, RAILGUN can generalize across different maps and handle any number of agents. We collect trajectories from rule-based methods to train our model in a supervised way. In experiments, RAILGUN outperforms most baseline methods and demonstrates great zero-shot generalization capabilities on various tasks, maps and agent numbers that were not seen in the training dataset.

Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial for applications ranging from aerial swarms to warehouse automation. Solving MAPF is NP-hard so learning-based approaches for MAPF have gained attention, particularly those leveraging deep neural networks. Nonetheless, despite the community's continued efforts, all learning-based MAPF planners still rely on decentralized planning due to variability in the number of agents and map sizes. We have developed the first centralized learning-based policy for MAPF problem called RAILGUN. RAILGUN is not an agent-based policy but a map-based policy. By leveraging a CNN-based architecture, RAILGUN can generalize across different maps and handle any number of agents. We collect trajectories from rule-based methods to train our model in a supervised way. In experiments, RAILGUN outperforms most baseline methods and demonstrates great zero-shot generalization capabilities on various tasks, maps and agent numbers that were not seen in the training dataset.

Vector search and database systems have become a keystone component in many AI applications. While many prior research has investigated how to accelerate the performance of generic vector search, emerging AI applications require running more sophisticated vector queries efficiently, such as vector search with attribute filters. Unfortunately, recent filtered-ANNS solutions are primarily designed for CPUs, with few exploration and limited performance of filtered-ANNS that take advantage of the massive parallelism offered by GPUs. In this paper, we present VecFlow, a novel high-performance vector filtered search system that achieves unprecedented high throughput and recall while obtaining low latency for filtered-ANNS on GPUs. We propose a novel label-centric indexing and search algorithm that significantly improves the selectivity of ANNS with filters. In addition to algorithmic level optimization, we provide architecture-aware optimizations for VecFlow's functional modules, effectively supporting both small batch and large batch queries, and single-label and multi-label query processing. Experimental results on NVIDIA A100 GPU over several public available datasets validate that VecFlow achieves 5 million QPS for recall 90%, outperforming state-of-the-art CPU-based solutions such as Filtered-DiskANN by up to 135 times. Alternatively, VecFlow can easily extend its support to high recall 99% regime, whereas strong GPU-based baselines plateau at around 80% recall.