Related papers: Communicating Plans, Not Percepts: Scalable Multi-…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

Steering cooperative multi-agent reinforcement learning (MARL) towards desired outcomes is challenging, particularly when the global guidance from a human on the whole multi-agent system is impractical in a large-scale MARL. On the other…

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge…

We study the problem of imitation learning from demonstrations of multiple coordinating agents. One key challenge in this setting is that learning a good model of coordination can be difficult, since coordination is often implicit in the…

Grounding the reasoning ability of large language models (LLMs) for embodied tasks is challenging due to the complexity of the physical world. Especially, LLM planning for multi-agent collaboration requires communication of agents or credit…

Extending transfer learning to cooperative multi-agent reinforcement learning (MARL) has recently received much attention. In contrast to the single-agent setting, the coordination indispensable in cooperative MARL constrains each agent's…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

To complete assignments provided by humans in natural language, robots must interpret commands, generate and answer relevant questions for scene understanding, and manipulate target objects. Real-world deployments often require multiple…

Although LLMs demonstrate proficiency in several text-based reasoning and planning tasks, their implementation in robotics control is constrained by significant deficiencies: (1) LLM agents are designed to work mainly with textual inputs…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

Cooperative multi-agent reinforcement learning (MARL) is typically formalised as a Decentralised Partially Observable Markov Decision Process (Dec-POMDP), where agents must reason about the environment and other agents' behaviour. In…

Integrated sensing and communication (ISAC) is envisioned to be one of the pillars of 6G. However, 6G is also expected to be severely affected by hardware impairments. Under such impairments, standard model-based approaches might fail if…

This paper introduces a novel, open-source MARL simulation framework for studying implicit cooperation in LEMs, modeled as a decentralized partially observable Markov decision process and implemented as a Gymnasium environment for MARL. Our…

Multi-agent reinforcement learning is a promising research area that extends established reinforcement learning approaches to problems formulated as multi-agent systems. Recently, a multitude of communication methods have been introduced to…

Our interest is in the design of software systems involving a human-expert interacting -- using natural language -- with a large language model (LLM) on data analysis tasks. For complex problems, it is possible that LLMs can harness human…

In real-world environments, autonomous agents rely on their egocentric observations. They must learn adaptive strategies to interact with others who possess mixed motivations, discernible only through visible cues. Several Multi-Agent…

Cooperative multi-agent reinforcement learning (MARL) approaches tackle the challenge of finding effective multi-agent cooperation strategies for accomplishing individual or shared objectives in multi-agent teams. In real-world scenarios,…

Communication is important in many multi-agent reinforcement learning (MARL) problems for agents to share information and make good decisions. However, when deploying trained communicative agents in a real-world application where noise and…

Large language models (LLMs) are increasingly deployed in multi-agent systems where agents communicate in natural language to solve tasks jointly. A key capability in such systems is consensus formation, where agents iteratively exchange…

Large language models (LLMs) encode a vast amount of world knowledge acquired from massive text datasets. Recent studies have demonstrated that LLMs can assist an embodied agent in solving complex sequential decision making tasks by…