相关论文: Equivariant Networks for Zero-Shot Coordination

The incorporation of macro-actions (temporally extended actions) into multi-agent decision problems has the potential to address the curse of dimensionality associated with such decision problems. Since macro-actions last for stochastic…

Zero-shot coordination (ZSC), the ability to adapt to a new partner in a cooperative task, is a critical component of human-compatible AI. While prior work has focused on training agents to cooperate on a single task, these specialized…

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…

In this paper, a new on-line scheme is presented to design the optimal coordination control for the consensus problem of multi-agent differential games by fuzzy adaptive dynamic programming (FADP), which brings together game theory,…

Decentralized policies for information gathering are required when multiple autonomous agents are deployed to collect data about a phenomenon of interest without the ability to communicate. Decentralized partially observable Markov decision…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number 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…

Equivariant deep learning architectures exploit symmetries in learning problems to improve the sample efficiency of neural-network-based models and their ability to generalise. However, when modelling real-world data, learning problems are…

Contemporary multi-agent systems increasingly rely on internal coordination mechanisms to combine, arbitrate, or constrain the outputs of heterogeneous components. In safety-critical and regulated domains such as finance, these mechanisms…

We study the problem of minimizing the sum of potentially non-differentiable convex cost functions with partially overlapping dependences in an asynchronous manner, where communication in the network is not coordinated. We study the…

The human nervous system exhibits bilateral symmetry, enabling coordinated and balanced movements. However, existing Deep Reinforcement Learning (DRL) methods for humanoid robots neglect morphological symmetry of the robot, leading to…

The Common Information (CI) approach provides a systematic way to transform a multi-agent stochastic control problem to a single-agent partially observed Markov decision problem (POMDP) called the coordinator's POMDP. However, such a POMDP…

Many high-level multi-agent planning problems, including multi-robot navigation and path planning, can be effectively modeled using deterministic actions and observations. In this work, we focus on such domains and introduce the class of…

Multi-agent active perception is a task where a team of agents cooperatively gathers observations to compute a joint estimate of a hidden variable. The task is decentralized and the joint estimate can only be computed after the task ends by…

Multi-environment POMDPs (ME-POMDPs) extend standard POMDPs with discrete model uncertainty. ME-POMDPs represent a finite set of POMDPs that share the same state, action, and observation spaces, but may arbitrarily vary in their transition,…

Optimally solving decentralized decision-making problems modeled as Dec-POMDPs is known to be NEXP-complete. These optimal solutions are policies based on the entire history of observations and actions of an agent. However, some…

Coordinated optimal dispatch is of utmost importance for the efficient and secure operation of hierarchically structured power systems. Conventional coordinated optimization methods, such as the Lagrangian relaxation and Benders…

The SOTA algorithms for addressing QDec-POMDP issues, QDec-FP and QDec-FPS, are unable to effectively tackle problems that involve different types of sensing agents. We propose a new algorithm that addresses this issue by requiring agents…

Infinitely repeated games can support cooperative outcomes that are not equilibria in the one-shot game. The idea is to make sure that any gains from deviating will be offset by retaliation in future rounds. However, this model of…

Partially Observable Markov Decision Processes (POMDPs) are systems in which one agent interacts with a stochastic environment, and receives only partial information about the current state. In a multi-environment POMDP (MEPOMDP), the…