Generalized and Sub-Optimal Bipartite Constraints for Conflict-Based Search
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Bibliographic record
Abstract
The main idea of conflict-based search (CBS), a popular, state-of-the-art algorithm for multi-agent pathfinding is to resolve conflicts between agents by systematically adding constraints to agents. Recently, CBS has been adapted for new domains and variants, including non-unit costs and continuous time settings. These adaptations require new types of constraints. This paper introduces a new automatic constraint generation technique called bipartite reduction (BR). BR converts the constraint generation step of CBS to a surrogate bipartite graph problem. The properties of BR guarantee completeness and optimality for CBS. Also, BR's properties may be relaxed to obtain suboptimal solutions. Empirical results show that BR yields significant speedups in 2k connected grids over the previous state-of-the-art for both optimal and suboptimal search.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it