# Zhejiang University's GuardPIBT enhances PIBT with residual reranking, completes conflict-free 3D planning for 1 million agents in simulation

- Source: 深蓝AI · 微信公众号
- Published: 2026-10-17T09:32:00.000Z
- RoboHot: https://robohot.news/en/items/uhgzmaupxh2s4v7jesh5mpq80
- Original: https://mp.weixin.qq.com/s?__biz=MzY4NjA5NTgyMQ==&mid=2247605867&idx=1&sn=fb12f746a2a16f7c296a618660f84369&chksm=f2272335aa1a3c813886092c3eb9e8b44678924f0779aa5e1bdcf952718080e1f9a7f05293d7&scene=126&sessionid=1792244175#rd

## Summary

A Zhejiang University team proposed GuardPIBT, which, while retaining the PIBT execution kernel, uses a neural network to make residual reranking proposals over PIBT's native candidate actions; conflict checking, priority inheritance, and backtracking are still handled by the PIBT kernel, and counterfactual grouped gating is introduced to filter harmful interventions.