相关论文: Scalable Perception-Action-Communication Loops wit…

Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based on solely raw…

Recent work in the multi-agent domain has shown the promise of Graph Neural Networks (GNNs) to learn complex coordination strategies. However, most current approaches use minor variants of a Graph Convolutional Network (GCN), which applies…

Dynamical systems consisting of a set of autonomous agents face the challenge of having to accomplish a global task, relying only on local information. While centralized controllers are readily available, they face limitations in terms of…

In this paper, we tackle the problem of relational behavior forecasting from sensor data. Towards this goal, we propose a novel spatially-aware graph neural network (SpAGNN) that models the interactions between agents in the scene.…

Graph Neural Networks (GNNs) are routinely used in molecular physics, social sciences, and economics to model many-body interactions in graph-like systems. However, GNNs are inherently local and can suffer from information flow bottlenecks.…

The collaboration between agents has gradually become an important topic in multi-agent systems. The key is how to efficiently solve the credit assignment problems. This paper introduces MGAN for collaborative multi-agent reinforcement…

This paper addresses the Multi-Robot Active Information Acquisition (AIA) problem, where a team of mobile robots, communicating through an underlying graph, estimates a hidden state expressing a phenomenon of interest. Applications like…

Graph Neural Networks (GNNs) have achieved remarkable success in graph-based learning by propagating information among neighbor nodes via predefined aggregation mechanisms. However, such fixed schemes often suffer from two key limitations.…

Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial…

In multi-agent reinforcement learning (MARL), the integration of a communication mechanism, allowing agents to better learn to coordinate their actions and converge on their objectives by sharing information. Based on an interaction graph,…

This paper addresses the limitations of multi-node perception and delayed scheduling response in distributed systems by proposing a GNN-based multi-node collaborative perception mechanism. The system is modeled as a graph structure.…

Owing to the recent developments in Generative Artificial Intelligence (GenAI) and Large Language Models (LLM), conversational agents are becoming increasingly popular and accepted. They provide a human touch by interacting in ways familiar…

Graph Convolutional Networks (GCNs), particularly for large-scale graphs, are crucial across numerous domains. However, training distributed full-batch GCNs on large-scale graphs suffers from inefficient memory access patterns and high…

Vision Graph Neural Networks (ViGs) have demonstrated promising performance in image recognition tasks against Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs). An essential part of the ViG framework is the node-neighbor…

In this paper we propose a new framework to categorize social interactions in egocentric videos, we named InteractionGCN. Our method extracts patterns of relational and non-relational cues at the frame level and uses them to build a…

In this work, we study the problem of decentralized multi-agent perimeter defense that asks for computing actions for defenders with local perceptions and communications to maximize the capture of intruders. One major challenge for…

Connected Autonomous Vehicle (CAV) Network can be defined as a collection of CAVs operating at different locations on a multilane corridor, which provides a platform to facilitate the dissemination of operational information as well as…

The aim of this work is to develop a fully-distributed algorithmic framework for training graph convolutional networks (GCNs). The proposed method is able to exploit the meaningful relational structure of the input data, which are collected…

To compete with existing mobile architectures, MobileViG introduces Sparse Vision Graph Attention (SVGA), a fast token-mixing operator based on the principles of GNNs. However, MobileViG scales poorly with model size, falling at most 1%…

Graph-based environments pose unique challenges to multi-agent reinforcement learning. In decentralized approaches, agents operate within a given graph and make decisions based on partial or outdated observations. The size of the observed…