相关论文: Adaptive Coordination in Social Embodied Rearrange…

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…

Generating agents that can achieve zero-shot coordination (ZSC) with unseen partners is a new challenge in cooperative multi-agent reinforcement learning (MARL). Recently, some studies have made progress in ZSC by exposing the agents to…

Zero-shot coordination (ZSC) aims to enable agents to cooperate with independently trained partners without prior interaction, a key requirement for real-world multi-agent systems and human-AI collaboration. Existing approaches have largely…

We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three…

AI agents hold the potential to transform everyday life by helping humans achieve their goals. To do this successfully, agents need to be able to coordinate with novel partners without prior interaction, a setting known as zero-shot…

Many Multi-Agent Reinforcement Learning (MARL) agents fail to adapt properly to cooperating with agents trained with the same objectives but different seeds, algorithms, or other training differences. This is the problem of Zero-Shot…

Zero-shot coordination problem in multi-agent reinforcement learning (MARL), which requires agents to adapt to unseen agents, has attracted increasing attention. Traditional approaches often rely on the Self-Play (SP) framework to generate…

Zero-shot coordination (ZSC) -- the ability to collaborate with unfamiliar partners -- is essential to making autonomous agents effective teammates. Existing ZSC methods evaluate coordination capabilities between two agents who have not…

Cooperative Multi-agent Reinforcement Learning (MARL) algorithms with Zero-Shot Coordination (ZSC) have gained significant attention in recent years. ZSC refers to the ability of agents to coordinate zero-shot (without additional…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Zero-shot coordination(ZSC), a key challenge in multi-agent game theory, has become a hot topic in reinforcement learning (RL) research recently, especially in complex evolving games. It focuses on the generalization ability of agents,…

Over these years, multi-agent reinforcement learning has achieved remarkable performance in multi-agent planning and scheduling tasks. It typically follows the self-play setting, where agents are trained by playing with a fixed group of…

Zero-shot coordination (ZSC) is a popular setting for studying the ability of reinforcement learning (RL) agents to coordinate with novel partners. Prior ZSC formulations assume the $\textit{problem setting}$ is common knowledge: each agent…

Zero-shot human-AI coordination is the training of an ego-agent to coordinate with humans without human data. Most studies on zero-shot human-AI coordination have focused on enhancing the ego-agent's coordination ability in a given…

Bin-picking is a practical and challenging robotic manipulation task, where accurate 6D pose estimation plays a pivotal role. The workpieces in bin-picking are typically textureless and randomly stacked in a bin, which poses a significant…

We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The rearrangement aims to afford sufficient accessible space for robot activities without compromising everyday…

Cooperative artificial intelligence with human or superhuman proficiency in collaborative tasks stands at the frontier of machine learning research. Prior work has tended to evaluate cooperative AI performance under the restrictive…

Much of what we do as humans is engage socially with other agents, a skill that robots must also eventually possess. We demonstrate that a rich theory of social interactions originating from microsociology and economics can be formalized by…

Synchronized dual-arm rearrangement is widely studied as a common scenario in industrial applications. It often faces scalability challenges due to the computational complexity of robotic arm rearrangement and the high-dimensional nature of…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…