相关论文: Hybrid BDI-POMDP Framework for Multiagent Teaming

Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target…

We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…

The problem of controlling multi-agent systems under different models of information sharing among agents has received significant attention in the recent literature. In this paper, we consider a setup where rather than committing to a…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

Allocating scarce resources among agents to maximize global utility is, in general, computationally challenging. We focus on problems where resources enable agents to execute actions in stochastic environments, modeled as Markov decision…

Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…

The main goal of this paper is to investigate continuous-time distributed dynamic programming (DP) algorithms for networked multi-agent Markov decision problems (MAMDPs). In our study, we adopt a distributed multi-agent framework where…

Partially Observable Markov Decision Process (POMDP) is a framework applicable to many real world problems. In this work, we propose an approach to solve POMDPs with multimodal belief by relying on a policy that solves the fully observable…

Partially observable Markov decision processes (POMDPs) provide a flexible representation for real-world decision and control problems. However, POMDPs are notoriously difficult to solve, especially when the state and observation spaces are…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

Memory systems are critical for LLMs, mitigating context window limitations and supporting long-horizon user-LLM interactions. Such systems typically comprise multiple agents responsible for memory construction and retrieval. Existing…

This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…

Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human…

Partially Observable Markov Decision Process (POMDP) is a mathematical framework for modeling decision-making under uncertainty, where the agent's observations are incomplete and the underlying system dynamics are probabilistic. Solving the…

Blame attribution is one of the key aspects of accountable decision making, as it provides means to quantify the responsibility of an agent for a decision making outcome. In this paper, we study blame attribution in the context of…

The focus of this paper is on solving multi-robot planning problems in continuous spaces with partial observability. Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination…

Noisy sensing, imperfect control, and environment changes are defining characteristics of many real-world robot tasks. The partially observable Markov decision process (POMDP) provides a principled mathematical framework for modeling and…

Markov decision processes (MDPs) are a popular model for performance analysis and optimization of stochastic systems. The parameters of stochastic behavior of MDPs are estimates from empirical observations of a system; their values are not…

Recently, Masked Diffusion Models (MDMs) have shown promising potential across vision, language, and cross-modal generation. However, a notable discrepancy exists between their training and inference procedures. In particular, MDM inference…

We consider the challenging problem of online planning for a team of agents to autonomously search and track a time-varying number of mobile objects under the practical constraint of detection range limited onboard sensors. A standard POMDP…