# Learning Coordination Policies over Heterogeneous Graphs for Human-Robot Teams via Recurrent Neural Schedule Propagation

arXiv: https://arxiv.org/abs/2301.13279 · HTML: https://mlsanity.com/paper/2301.13279/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 37 references that are in the map.
- First posted on arXiv 30 Jan 2023.

## Builds on (most cited first, 11 of 11)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [How Powerful are Graph Neural Networks?](https://mlsanity.com/paper/1810.00826/) (2018)
- [Graph Neural Networks: A Review of Methods and Applications](https://mlsanity.com/paper/1812.08434/) (2018)
- [Attention, Learn to Solve Routing Problems!](https://mlsanity.com/paper/1803.08475/) (2018)
- [Machine Learning for Combinatorial Optimization: a Methodological Tour d'Horizon](https://mlsanity.com/paper/1811.06128/) (2018)
- [Learning Combinatorial Optimization Algorithms over Graphs](https://mlsanity.com/paper/1704.01665/) (2017)
- [Fundamentals of Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM) Network](https://mlsanity.com/paper/1808.03314/) (2018)
- [LSTM-based Encoder-Decoder for Multi-sensor Anomaly Detection](https://mlsanity.com/paper/1607.00148/) (2016)
- [Online Planner Selection with Graph Neural Networks and Adaptive Scheduling](https://mlsanity.com/paper/1811.00210/) (2018)
- [Human-Robot Team Coordination with Dynamic and Latent Human Task Proficiencies: Scheduling with Learning Curves](https://mlsanity.com/paper/2007.01921/) (2020)

## Built on by (most cited first, 5 of 5)

- [Automatic MILP Model Construction for Multi-Robot Task Allocation and Scheduling Based on Large Language Models](https://mlsanity.com/paper/2503.13813/) (2025)
- [Towards Learning Scalable Agile Dynamic Motion Planning for Robosoccer Teams with Policy Optimization](https://mlsanity.com/paper/2502.05526/) (2025)
- [The Social Context of Human-Robot Interactions](https://mlsanity.com/paper/2508.13982/) (2025)
- [A Learning Method with Gap-Aware Generation for Heterogeneous DAG Scheduling](https://mlsanity.com/paper/2603.23249/) (2026)
- [Improvement of Optimization using Learning Based Models in Mixed Integer Linear Programming Tasks](https://mlsanity.com/paper/2506.06291/) (2025)

## Abstract (arXiv)

As human-robot collaboration increases in the workforce, it becomes essential for human-robot teams to coordinate efficiently and intuitively. Traditional approaches for human-robot scheduling either utilize exact methods that are intractable for large-scale problems and struggle to account for stochastic, time varying human task performance, or application-specific heuristics that require expert domain knowledge to develop. We propose a deep learning-based framework, called HybridNet, combining a heterogeneous graph-based encoder with a recurrent schedule propagator for scheduling stochastic human-robot teams under upper- and lower-bound temporal constraints. The HybridNet's encoder leverages Heterogeneous Graph Attention Networks to model the initial environment and team dynamics while accounting for the constraints. By formulating task scheduling as a sequential decision-making process, the HybridNet's recurrent neural schedule propagator leverages Long Short-Term Memory (LSTM) models to propagate forward consequences of actions to carry out fast schedule generation, removing the need to interact with the environment between every task-agent pair selection. The resulting scheduling policy network provides a computationally lightweight yet highly expressive model that is end-to-end trainable via Reinforcement Learning algorithms. We develop a virtual task scheduling environment for mixed human-robot teams in a multi-round setting, capable of modeling the stochastic learning behaviors of human workers. Experimental results showed that HybridNet outperformed other human-robot scheduling solutions across problem sizes for both deterministic and stochastic human performance, with faster runtime compared to pure-GNN-based schedulers.