Multi-agent reinforcement learning (MARL) algorithms have accomplished remarkable breakthroughs in solving large-scale decision-making tasks. Nonetheless, most existing MARL algorithms are model-free, limiting sample efficiency and hindering their applicability in more challenging scenarios. In contrast, model-based reinforcement learning (MBRL), particularly algorithms integrating planning, such as MuZero, has demonstrated superhuman performance with limited data in many tasks. Hence, we aim to boost the sample efficiency of MARL by adopting model-based approaches. However, incorporating planning and search methods into multi-agent systems poses significant challenges. The expansive action space of multi-agent systems often necessitates leveraging the nearly-independent property of agents to accelerate learning. To tackle this issue, we propose the MAZero algorithm, which combines a centralized model with Monte Carlo Tree Search (MCTS) for policy search. We design a novel network structure to facilitate distributed execution and parameter sharing. To enhance search efficiency in deterministic environments with sizable action spaces, we introduce two novel techniques: Optimistic Search Lambda (OS($\lambda$)) and Advantage-Weighted Policy Optimization (AWPO). Extensive experiments on the SMAC benchmark demonstrate that MAZero outperforms model-free approaches in terms of sample efficiency and provides comparable or better performance than existing model-based methods in terms of both sample and computational efficiency. Our code is available at https://github.com/liuqh16/MAZero.

World models constitute a promising approach for training reinforcement learning agents in a safe and sample-efficient manner. Recent world models predominantly operate on sequences of discrete latent variables to model environment dynamics. However, this compression into a compact discrete representation may ignore visual details that are important for reinforcement learning. Concurrently, diffusion models have become a dominant approach for image generation, challenging well-established methods modeling discrete latents. Motivated by this paradigm shift, we introduce DIAMOND (DIffusion As a Model Of eNvironment Dreams), a reinforcement learning agent trained in a diffusion world model. We analyze the key design choices that are required to make diffusion suitable for world modeling, and demonstrate how improved visual details can lead to improved agent performance. DIAMOND achieves a mean human normalized score of 1.46 on the competitive Atari 100k benchmark; a new best for agents trained entirely within a world model. To foster future research on diffusion for world modeling, we release our code, agents and playable world models at https://github.com/eloialonso/diamond.

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor strategies (policies) for specific tasks using physically simulated bodies and environments. However, the utility of these methods goes beyond the constraints of a specific task; they offer an exciting framework for understanding the organization of an animal sensorimotor system in connection to its morphology and physical interaction with the environment, as well as for deriving general design rules for sensing and actuation in robotic systems. Algorithms and code implementing both learning agents and environments are increasingly available, but the basic assumptions and choices that go into the formulation of an embodied feedback control problem using deep reinforcement learning may not be immediately apparent. Here, we present a concise exposition of the mathematical and algorithmic aspects of model-free reinforcement learning, specifically through the use of \textit{actor-critic} methods, as a tool for investigating the feedback control underlying animal and robotic behavior.

To address challenges in the digital economy's landscape of digital intelligence, large language models (LLMs) have been developed. Improvements in computational power and available resources have significantly advanced LLMs, allowing their integration into diverse domains for human life. Medical LLMs are essential application tools with potential across various medical scenarios. In this paper, we review LLM developments, focusing on the requirements and applications of medical LLMs. We provide a concise overview of existing models, aiming to explore advanced research directions and benefit researchers for future medical applications. We emphasize the advantages of medical LLMs in applications, as well as the challenges encountered during their development. Finally, we suggest directions for technical integration to mitigate challenges and potential research directions for the future of medical LLMs, aiming to meet the demands of the medical field better.

Operating safely and reliably despite continual distribution shifts is vital for high-stakes machine learning applications. This paper builds upon the transformative concept of ``antifragility'' introduced by (Taleb, 2014) as a constructive design paradigm to not just withstand but benefit from volatility. We formally define antifragility in the context of online decision making as dynamic regret's strictly concave response to environmental variability, revealing limitations of current approaches focused on resisting rather than benefiting from nonstationarity. Our contribution lies in proposing potential computational pathways for engineering antifragility, grounding the concept in online learning theory and drawing connections to recent advancements in areas such as meta-learning, safe exploration, continual learning, multi-objective/quality-diversity optimization, and foundation models. By identifying promising mechanisms and future research directions, we aim to put antifragility on a rigorous theoretical foundation in machine learning. We further emphasize the need for clear guidelines, risk assessment frameworks, and interdisciplinary collaboration to ensure responsible application.

Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment. Humanoid-Gym also integrates a sim-to-sim framework from Isaac Gym to Mujoco that allows users to verify the trained policies in different physical simulations to ensure the robustness and generalization of the policies. This framework is verified by RobotEra's XBot-S (1.2-meter tall humanoid robot) and XBot-L (1.65-meter tall humanoid robot) in a real-world environment with zero-shot sim-to-real transfer. The project website and source code can be found at: https://sites.google.com/view/humanoid-gym/.

This work presents an efficient approach for accelerating multilevel Markov Chain Monte Carlo (MCMC) sampling for large-scale problems using low-fidelity machine learning models. While conventional techniques for large-scale Bayesian inference often substitute computationally expensive high-fidelity models with machine learning models, thereby introducing approximation errors, our approach offers a computationally efficient alternative by augmenting high-fidelity models with low-fidelity ones within a hierarchical framework. The multilevel approach utilizes the low-fidelity machine learning model (MLM) for inexpensive evaluation of proposed samples thereby improving the acceptance of samples by the high-fidelity model. The hierarchy in our multilevel algorithm is derived from geometric multigrid hierarchy. We utilize an MLM to acclerate the coarse level sampling. Training machine learning model for the coarsest level significantly reduces the computational cost associated with generating training data and training the model. We present an MCMC algorithm to accelerate the coarsest level sampling using MLM and account for the approximation error introduced. We provide theoretical proofs of detailed balance and demonstrate that our multilevel approach constitutes a consistent MCMC algorithm. Additionally, we derive conditions on the accuracy of the machine learning model to facilitate more efficient hierarchical sampling. Our technique is demonstrated on a standard benchmark inference problem in groundwater flow, where we estimate the probability density of a quantity of interest using a four-level MCMC algorithm. Our proposed algorithm accelerates multilevel sampling by a factor of two while achieving similar accuracy compared to sampling using the standard multilevel algorithm.

We developed machine learning approaches for data-driven trellis-based soft symbol detection in coded transmission over intersymbol interference (ISI) channels in presence of bursty impulsive noise (IN), for example encountered in wireless digital broadcasting systems and vehicular communications. This enabled us to obtain optimized detectors based on the Bahl-Cocke-Jelinek-Raviv (BCJR) algorithm while circumventing the use of full channel state information (CSI) for computing likelihoods and trellis state transition probabilities. First, we extended the application of the neural network (NN)-aided BCJR, recently proposed for ISI channels with additive white Gaussian noise (AWGN). Although suitable for estimating likelihoods via labeling of transmission sequences, the BCJR-NN method does not provide a framework for learning the trellis state transitions. In addition to detection over the joint ISI and IN states we also focused on another scenario where trellis transitions are not trivial: detection for the ISI channel with AWGN with inaccurate knowledge of the channel memory at the receiver. Without access to the accurate state transition matrix, the BCJR- NN performance significantly degrades in both settings. To this end, we devised an alternative approach for data-driven BCJR detection based on the unsupervised learning of a hidden Markov model (HMM). The BCJR-HMM allowed us to optimize both the likelihood function and the state transition matrix without labeling. Moreover, we demonstrated the viability of a hybrid NN and HMM BCJR detection where NN is used for learning the likelihoods, while the state transitions are optimized via HMM. While reducing the required prior channel knowledge, the examined data-driven detectors with learned trellis state transitions achieve bit error rates close to the optimal full CSI-based BCJR, significantly outperforming detection with inaccurate CSI.

Thanks to the explosive developments of data-driven learning methodologies recently, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem in robotics. In this manuscript, we propose a novel concurrent teacher-student reinforcement learning architecture for legged locomotion over challenging terrains, based only on proprioceptive measurements in real-world deployment. Different from convectional teacher-student architecture that trains the teacher policy via RL and transfers the knowledge to the student policy through supervised learning, our proposed architecture trains teacher and student policy networks concurrently under the reinforcement learning paradigm. To achieve this, we develop a new training scheme based on conventional proximal policy gradient (PPO) method to accommodate the interaction between teacher policy network and student policy network. The effectiveness of the proposed architecture as well as the new training scheme is demonstrated through extensive indoor and outdoor experiments on quadrupedal robots and point-foot bipedal robot, showcasing robust locomotion over challenging terrains and improved performance compared to two-stage training methods.

Sleep is vital for people's physical and mental health, and sound sleep can help them focus on daily activities. Therefore, a sleep study that includes sleep patterns and disorders is crucial to enhancing our knowledge about individuals' health status. The findings on sleep stages and sleep disorders relied on polysomnography and self-report measures, and then the study went through clinical assessments by expert physicians. However, the evaluation process of sleep stage classification and sleep disorder has become more convenient with artificial intelligence applications and numerous investigations focusing on various datasets with advanced algorithms and techniques that offer improved computational ease and accuracy. This study aims to provide a comprehensive, systematic review and meta-analysis of the recent literature to analyze the different approaches and their outcomes in sleep studies, which includes works on sleep stages classification and sleep disorder detection using AI. In this review, 183 articles were initially selected from different journals, among which 80 records were enlisted for explicit review, ranging from 2016 to 2023. Brain waves were the most commonly employed body parameters for sleep staging and disorder studies. The convolutional neural network, the most widely used of the 34 distinct artificial intelligence models, comprised 27%. The other models included the long short-term memory, support vector machine, random forest, and recurrent neural network, which consisted of 11%, 6%, 6%, and 5% sequentially. For performance metrics, accuracy was widely used for a maximum of 83.75% of the cases, the F1 score of 45%, Kappa of 36.25%, Sensitivity of 31.25%, and Specificity of 30% of cases, along with the other metrics. This article would help physicians and researchers get the gist of AI's contribution to sleep studies and the feasibility of their intended work.