Large vehicles in cluttered environments are often blocked by movable obstacles, motivating mobile robot teams to clear traversable corridors. Navigation Among Movable Obstacles (NAMO) approaches often abstract obstacle displacements while neglecting robot dimensions, obstacle mass, contact geometry and forces, yielding physically infeasible plans. PushAround is a physics-informed hybrid search that couples geometric connectivity reasoning with short-horizon simulation to construct executable clearing plans. Repeated W-clearance connectivity graph (WCCG) queries expose frontier gaps requiring widening and rank them by estimated downstream costs. The search generates direct or recursive pushing candidates, selecting obstacles, directions, contacts and forces, and admits physics-evaluated candidates. Numerical experiments validate WCCG against standard connectivity checks and demonstrate scaling to denser clutter and teams of up to four robots, with robustness to simulated execution-side physical-parameter mismatch.
Jiuyun Jiang, Yuecheng Hong, Bo Yang, Jin Yang, Guangxin Jiang Harbin Institute of Technology, Xiaomeng Guo Hong Kong Polytechnic University, Guang Xiao Hong Kong Polytechnic University
原文摘要
Modeling coordination among generative agents in complex multi-round decision-making presents a core challenge for AI and operations management. Although behavioral experiments have revealed cognitive biases behind supply chain inefficiencies, traditional methods face scalability and control limitations. We introduce a scalable experimental paradigm using Large Language Models (LLMs) to simulate multi-stage supply chain dynamics. Grounded in a Hierarchical Reasoning Framework, this study specifically analyzes the impact of cognitive heterogeneity on agent interactions. Unlike prior homogeneous settings, we employ DeepSeek and GPT agents to systematically vary reasoning sophistication across supply chain tiers. Through rigorously replicated and statistically validated simulations, we investigate how this cognitive diversity influences collective outcomes. Results indicate that agents exhibit myopic and self-interested behaviors that exacerbate systemic inefficiencies. However, we demonstrate that information sharing effectively mitigates these adverse effects. Our findings extend traditional behavioral methods and offer new insights into the dynamics of AI-enabled organizations. This work underscores both the potential and limitations of LLM-based agents as proxies for human decision-making in complex operational environments.
cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表