相关论文: Equivariant Networks for Zero-Shot Coordination

Deep Reinforcement Learning (RL) models often fail to generalize when even small changes occur in the environment's observations or task requirements. Addressing these shifts typically requires costly retraining, limiting the reusability of…

Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not…

Equivariant neural networks are designed to respect symmetries through their architecture, boosting generalization and sample efficiency when those symmetries are present in the data distribution. Real-world data, however, often departs…

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…

We address two major challenges of implicit coordination in multi-agent deep reinforcement learning: non-stationarity and exponential growth of state-action space, by combining Deep-Q Networks for policy learning with Nash equilibrium for…

Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) are known to be NEXP-Complete and intractable to solve. However, for problems such as cooperative navigation, obstacle avoidance, and formation control, basic…

Equivariant neural networks enforce symmetry within the structure of their convolutional layers, resulting in a substantial improvement in sample efficiency when learning an equivariant or invariant function. Such models are applicable to…

This paper marries two state-of-the-art controller synthesis methods for partially observable Markov decision processes (POMDPs), a prominent model in sequential decision making under uncertainty. A central issue is to find a POMDP…

Cooperative multi-agent reinforcement learning (MARL) is typically formalised as a Decentralised Partially Observable Markov Decision Process (Dec-POMDP), where agents must reason about the environment and other agents' behaviour. In…

Most existing Human-Object Interaction~(HOI) Detection methods rely heavily on full annotations with predefined HOI categories, which is limited in diversity and costly to scale further. We aim at advancing zero-shot HOI detection to detect…

This study investigates the efficiency and safety outcomes of implementing different adaptive coordination models for automated vehicle (AV) fleets, managed by a centralized coordinator that dynamically responds to human-controlled vehicle…

Artificial Neural Networks (ANN) comprise important symmetry properties, which can influence the performance of Monte Carlo methods in Neuroevolution. The problem of the symmetries is also known as the competing conventions problem or…

When multiple self-adaptive systems share the same environment and have common goals, they may coordinate their adaptations at runtime to avoid conflicts and to satisfy their goals. There are two approaches to coordination. (1) Logically…

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 this paper, we establish a zero-sum, hybrid state stochastic game model for designing defense policies for cyber-physical systems against different types of attacks. With the increasingly integrated properties of cyber-physical systems…

Amortized optimization accelerates the solution of related optimization problems by learning mappings that exploit shared structure across problem instances. We explore the use of Scale Equivariant Graph Metanetworks (ScaleGMNs) for this…

Extensive work has demonstrated that equivariant neural networks can significantly improve sample efficiency and generalization by enforcing an inductive bias in the network architecture. These applications typically assume that the domain…

We consider the problem of finding the best memoryless stochastic policy for an infinite-horizon partially observable Markov decision process (POMDP) with finite state and action spaces with respect to either the discounted or mean reward…

Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…

We study synthesis problems with constraints in partially observable Markov decision processes (POMDPs), where the objective is to compute a strategy for an agent that is guaranteed to satisfy certain safety and performance specifications.…