相关论文: Equivariant Networks for Zero-Shot Coordination

Partially observable Markov decision processes (POMDPs) are widely used in probabilistic planning problems in which an agent interacts with an environment using noisy and imprecise sensors. We study a setting in which the sensors are only…

Multi-agent reinforcement learning has emerged as a powerful framework for enabling agents to learn complex, coordinated behaviors but faces persistent challenges regarding its generalization, scalability and sample efficiency. Recent…

In autonomous driving, deep learning enabled motion prediction is a popular topic. A critical gap in traditional motion prediction methodologies lies in ensuring equivariance under Euclidean geometric transformations and maintaining…

In recent years several learning approaches to point goal navigation in previously unseen environments have been proposed. They vary in the representations of the environments, problem decomposition, and experimental evaluation. In this…

Distributed blackbox consensus optimization is a fundamental problem in multi-agent systems, where agents must improve a global objective using only local objective queries and limited neighbor communication. Existing methods largely rely…

This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…

Many real-world applications involve teams of agents that have to coordinate their actions to reach a common goal against potential adversaries. This paper focuses on zero-sum games where a team of players faces an opponent, as is the case,…

We study Reinforcement Learning for partially observable dynamical systems using function approximation. We propose a new \textit{Partially Observable Bilinear Actor-Critic framework}, that is general enough to include models such as…

Based on the idea of randomized coordinate descent of $\alpha$-averaged operators, a randomized primal-dual optimization algorithm is introduced, where a random subset of coordinates is updated at each iteration. The algorithm builds upon a…

Beyond specific settings, many multi-agent learning algorithms fail to converge to an equilibrium solution, instead displaying complex, non-stationary behaviours such as recurrent or chaotic orbits. In fact, recent literature suggests that…

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…

This paper addresses a fundamental question of multi-agent knowledge distribution: what information should be sent to whom and when, with the limited resources available to each agent? Communication requirements for multi-agent systems can…

The coordination of Embodied Multi-Agent Systems in constrained physical environments requires a rigorous balance between safety, scalability, and efficiency. Traditional decentralized approaches, e.g., reactive collision avoidance, are…

This paper proposes an observer-based framework for solving Partially Observable Markov Decision Processes (POMDPs) when an accurate model is not available. We first propose to use a Moving Horizon Estimation-Model Predictive Control…

Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…

Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel robot configurations remains limited. Most approaches…

Partially observable Markov decision processes (POMDPs) have recently become popular among many AI researchers because they serve as a natural model for planning under uncertainty. Value iteration is a well-known algorithm for finding…

Cooperative multi-agent reinforcement learning often assumes a fixed execution team, yet many decentralized systems must operate with varying numbers of active agents during deployment. We study this setting under episodic roster variation:…

This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…

The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…