相关论文: Transferring Multi-Agent Reinforcement Learning Po…

Current methods to learn controllers for autonomous vehicles (AVs) focus on behavioural cloning. Being trained only on exact historic data, the resulting agents often generalize poorly to novel scenarios. Simulators provide the opportunity…

To achieve general intelligence, agents must learn how to interact with others in a shared environment: this is the challenge of multiagent reinforcement learning (MARL). The simplest form is independent reinforcement learning (InRL), where…

A fundamental challenge in multiagent reinforcement learning is to learn beneficial behaviors in a shared environment with other simultaneously learning agents. In particular, each agent perceives the environment as effectively…

Developing autonomous vehicles (AVs) requires not only safety and efficiency, but also realistic, human-like behaviors that are socially aware and predictable. Achieving this requires sim agent policies that are human-like, fast, and…

Multi-agent systems (MAS) and reinforcement learning (RL) are widely used to enhance the agentic capabilities of large language models (LLMs). MAS improves task performance through role-based orchestration, while RL uses environmental…

Many challenges remain before AI agents can be deployed in real-world environments. However, one virtue of such environments is that they are inherently multi-agent and contain human experts. Using advanced social intelligence in such an…

We consider the multi-agent reinforcement learning setting with imperfect information in which each agent is trying to maximize its own utility. The reward function depends on the hidden state (or goal) of both agents, so the agents must…

We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with learning…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination,…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

This paper tackles decentralized continuous task allocation in heterogeneous multi-agent systems. We present a novel framework HIPPO-MAT that integrates graph neural networks (GNN) employing a GraphSAGE architecture to compute independent…

Multi-agent reinforcement learning is a standard framework for modeling multi-agent interactions applied in real-world scenarios. Inspired by experience sharing in human groups, learning knowledge parallel reusing between agents can…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to…

Traffic simulators are important tools in autonomous driving development. While continuous progress has been made to provide developers more options for modeling various traffic participants, tuning these models to increase their behavioral…

Sim-to-real, a term that describes where a model is trained in a simulator then transferred to the real world, is a technique that enables faster deep reinforcement learning (DRL) training. However, differences between the simulator and the…

Vehicles today can drive themselves on highways and driverless robotaxis operate in major cities, with more sophisticated levels of autonomous driving expected to be available and become more common in the future. Yet, technically speaking,…