Kirilenko, Daniil, Anton Andreychuk, Aleksandr Panov, and Konstantin Yakovlev. “TransPath: Learning Heuristics for Grid-Based Pathfinding via Transformers”. Proceedings of the AAAI Conference on Artificial Intelligence 37, no. 10 (June 26, 2023): 12436–12443. Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/26465.