Existing asynchronous MARL methods based on MacDec-POMDP typically construct training trajectory buffers by simply sampling limited and biased data at the endpoints of macro-actions, and directly apply conventional MARL methods on the buffers. As a result, these methods lead to an incomplete and inaccurate representation of the macro-action execution process, along with unsuitable credit assignments. To solve these problems, the T emporal Macro-action Value F actorization (ToMacVF) is proposed to achieve fine-grained temporal credit assignment for macro-action contributions. A centralized training buffer, called Macro-action S egmented Joint Experience R eplay Trajectory (Mac-SJERT), is designed to incorporate with ToMacVF to collect accurate and complete macro-action execution information, supporting a more comprehensive and precise representation of the macro-action process. To ensure principled and fine-grained asynchronous value factorization, the consistency requirement between joint and individual macro-action selection called Tempo ral Mac ro-action based IGM (To-Mac-IGM) is formalized, proving that it generalizes the synchronous cases. Based on To-Mac-IGM, a modularized ToMacVF architecture, which satisfies CTDE principle, is designed to conveniently integrate previous value factorization methods. Next, the ToMacVF algorithm is devised as an implementation of the ToMacVF architecture. Experimental results demonstrate that, compared to asynchronous baselines, our ToMacVF algorithm not only achieves optimal performance but also exhibits strong adaptability and robustness across various asynchronous multi-agent experimental scenarios.

Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global User Intent Dual-phase Estimation for Robots), a probabilistic framework that enables a robot to estimate the intent of human operators. GUIDER maintains two coupled belief layers, one tracking navigation goals and the other manipulation goals. In the Navigation phase, a Synergy Map blends controller velocity with an occupancy grid to rank interaction areas. Upon arrival at a goal, an autonomous multi-view scan builds a local 3D cloud. The Manipulation phase combines U2Net saliency, FastSAM instance saliency, and three geometric grasp-feasibility tests, with an end-effector kinematics-aware update rule that evolves object probabilities in real-time. GUIDER can recognize areas and objects of intent without predefined goals. We evaluated GUIDER on 25 trials (five participants x five task variants) in Isaac Sim, and compared it with two baselines, one for navigation and one for manipulation. Across the 25 trials, GUIDER achieved a median stability of 93-100% during navigation, compared with 60-100% for the BOIR baseline, with an improvement of 39.5% in a redirection scenario (T5). During manipulation, stability reached 94-100% (versus 69-100% for Trajectron), with a 31.4% difference in a redirection task (T3). In geometry-constrained trials (manipulation), GUIDER recognized the object intent three times earlier than Trajectron (median remaining time to confident prediction 23.6 s vs 7.8 s). These results validate our dual-phase framework and show improvements in intent inference in both phases of mobile manipulation tasks.

In heterogeneous multi-agent reinforcement learning (MARL), achieving monotonic improvement plays a pivotal role in enhancing performance. The HAPPO algorithm proposes a feasible solution by introducing a sequential update scheme, which requires independent learning with No Parameter-sharing (NoPS). However, heterogeneous MARL generally requires Partial Parameter-sharing (ParPS) based on agent grouping to achieve high cooperative performance. Our experiments prove that directly combining ParPS with the sequential update scheme leads to the policy updating baseline drift problem, thereby failing to achieve improvement. To solve the conflict between monotonic improvement and ParPS, we propose the Optimal Marginal Deterministic Policy Gradient (OMDPG) algorithm. First, we replace the sequentially computed $Q_ψ^s(s,a_{1:i})$ with the Optimal Marginal Q (OMQ) function $ϕ_ψ^*(s,a_{1:i})$ derived from Q-functions. This maintains MAAD's monotonic improvement while eliminating the conflict through optimal joint action sequences instead of sequential policy ratio calculations. Second, we introduce the Generalized Q Critic (GQC) as the critic function, employing pessimistic uncertainty-constrained loss to optimize different Q-value estimations. This provides the required Q-values for OMQ computation and stable baselines for actor updates. Finally, we implement a Centralized Critic Grouped Actor (CCGA) architecture that simultaneously achieves ParPS in local policy networks and accurate global Q-function computation. Experimental results in SMAC and MAMuJoCo environments demonstrate that OMDPG outperforms various state-of-the-art MARL baselines.

Nowadays, as AI-driven manufacturing becomes increasingly popular, the volume of data streams requiring real-time monitoring continues to grow. However, due to limited resources, it is impractical to place sensors at every location to detect unexpected shifts. Therefore, it is necessary to develop an optimal sensor placement strategy that enables partial observability of the system while detecting anomalies as quickly as possible. Numerous approaches have been proposed to address this challenge; however, most existing methods consider only variable correlations and neglect a crucial factor: Causality. Moreover, although a few techniques incorporate causal analysis, they rely on interventions-artificially creating anomalies-to identify causal effects, which is impractical and might lead to catastrophic losses. In this paper, we introduce a causality-informed deep Q-network (Causal DQ) approach for partially observable sensor placement in anomaly detection. By integrating causal information at each stage of Q-network training, our method achieves faster convergence and tighter theoretical error bounds. Furthermore, the trained causal-informed Q-network significantly reduces the detection time for anomalies under various settings, demonstrating its effectiveness for sensor placement in large-scale, real-world data streams. Beyond the current implementation, our technique's fundamental insights can be applied to various reinforcement learning problems, opening up new possibilities for real-world causality-informed machine learning methods in engineering applications.

Text classification plays a pivotal role in edge computing applications like industrial monitoring, health diagnostics, and smart assistants, where low latency and high accuracy are both key requirements. Generative classifiers, in particular, have been shown to exhibit robustness to out-of-distribution and noisy data, which is an extremely critical consideration for deployment in such real-time edge environments. However, deploying such models on edge devices faces computational and memory constraints. Post Training Quantization (PTQ) reduces model size and compute costs without retraining, making it ideal for edge deployment. In this work, we present a comprehensive comparative study of generative and discriminative Long Short Term Memory (LSTM)-based text classification models with PTQ using the Brevitas quantization library. We evaluate both types of classifier models across multiple bitwidths and assess their robustness under regular and noisy input conditions. We find that while discriminative classifiers remain robust, generative ones are more sensitive to bitwidth, calibration data used during PTQ, and input noise during quantized inference. We study the influence of class imbalance in calibration data for both types of classifiers, comparing scenarios with evenly and unevenly distributed class samples including their effect on weight adjustments and activation profiles during PTQ. Using test statistics derived from nonparametric hypothesis testing, we identify that using class imbalanced data during calibration introduces insufficient weight adaptation at lower bitwidths for generative LSTM classifiers, thereby leading to degraded performance. This study underscores the role of calibration data in PTQ and when generative classifiers succeed or fail under noise, aiding deployment in edge environments.

Social learning is a powerful mechanism through which agents learn about the world from others. However, humans don't always choose to observe others, since social learning can carry time and cognitive resource costs. How do people balance social and non-social learning? In this paper, we propose a rational mentalizing model of the decision to engage in social learning. This model estimates the utility of social learning by reasoning about the other agent's goal and the informativity of their future actions. It then weighs the utility of social learning against the utility of self-exploration (non-social learning). Using a multi-player treasure hunt game, we show that our model can quantitatively capture human trade-offs between social and non-social learning. Furthermore, our results indicate that these two components allow agents to flexibly apply social learning to achieve their goals more efficiently.

We consider a multi-retailer supply chain where each retailer can dynamically choose when to share information (e.g., local inventory levels or demand observations) with other retailers, incurring a communication cost for each sharing event. This flexible information exchange mechanism contrasts with fixed protocols such as always sharing or never sharing. We formulate a joint optimization of inventory control and communication strategies, aiming to balance the trade-off between communication overhead and operational performance (service levels, holding, and stockout costs). We adopt a common information framework and derive a centralized Partially Observable Markov Decision Process (POMDP) model for a supply chain coordinator. Solving this coordinator's POMDP via dynamic programming characterizes the structure of optimal policies, determining when retailers should communicate and how they should adjust orders based on available information. We show that, in this setting, retailers can often act optimally by sharing only limited summaries of their private data, reducing communication frequency without compromising performance. We also incorporate practical constraints on communication frequency and propose an approximate point-based POMDP solution method (PBVI/SARSOP) to address computational complexity. Numerical experiments on multi-retailer inventory scenarios demonstrate that our approach significantly improves the cost-service trade-off compared to static information sharing policies, effectively optimizing the schedule of information exchange for cooperative inventory control.

Accurately attributing user visits to specific Points of Interest (POIs) is a foundational task for mobility analytics, personalized services, marketing and urban planning. However, POI attribution remains challenging due to GPS inaccuracies, typically ranging from 2 to 20 meters in real-world settings, and the high spatial density of POIs in urban environments, where multiple venues can coexist within a small radius (e.g., over 50 POIs within a 100-meter radius in dense city centers). Relying on proximity is therefore often insufficient for determining which POI was actually visited. We introduce \textsf{POIFormer}, a novel Transformer-based framework for accurate and efficient POI attribution. Unlike prior approaches that rely on limited spatiotemporal, contextual, or behavioral features, \textsf{POIFormer} jointly models a rich set of signals, including spatial proximity, visit timing and duration, contextual features from POI semantics, and behavioral features from user mobility and aggregated crowd behavior patterns--using the Transformer's self-attention mechanism to jointly model complex interactions across these dimensions. By leveraging the Transformer to model a user's past and future visits (with the current visit masked) and incorporating crowd-level behavioral patterns through pre-computed KDEs, \textsf{POIFormer} enables accurate, efficient attribution in large, noisy mobility datasets. Its architecture supports generalization across diverse data sources and geographic contexts while avoiding reliance on hard-to-access or unavailable data layers, making it practical for real-world deployment. Extensive experiments on real-world mobility datasets demonstrate significant improvements over existing baselines, particularly in challenging real-world settings characterized by spatial noise and dense POI clustering.

We explore the use of Hamiltonian Monte Carlo (HMC) sampling as a probabilistic last layer approach for deep neural networks (DNNs). While HMC is widely regarded as a gold standard for uncertainty estimation, the computational demands limit its application to large-scale datasets and large DNN architectures. Although the predictions from the sampled DNN parameters can be parallelized, the computational cost still scales linearly with the number of samples (similar to an ensemble). Last layer HMC (LL--HMC) reduces the required computations by restricting the HMC sampling to the final layer of a DNN, making it applicable to more data-intensive scenarios with limited computational resources. In this paper, we compare LL-HMC against five last layer probabilistic deep learning (LL-PDL) methods across three real-world video datasets for driver action and intention. We evaluate the in-distribution classification performance, calibration, and out-of-distribution (OOD) detection. Due to the stochastic nature of the probabilistic evaluations, we performed five grid searches for different random seeds to avoid being reliant on a single initialization for the hyperparameter configurations. The results show that LL--HMC achieves competitive in-distribution classification and OOD detection performance. Additional sampled last layer parameters do not improve the classification performance, but can improve the OOD detection. Multiple chains or starting positions did not yield consistent improvements.

Bayesian inference is applied to calibrate and quantify prediction uncertainty in a coupled multi-component Hall thruster model at varying facility background pressures. The model, consisting of a cathode model, discharge model, and plume model, is used to simulate two thrusters across a range of background pressures in multiple vacuum test facilities. The model outputs include thruster performance metrics, one-dimensional plasma properties, and the angular distribution of the current density in the plume. The simulated thrusters include a magnetically shielded thruster, the H9, and an unshielded thruster, the SPT-100. After calibration, the model captures several key performance trends with background pressure, including changes in thrust and upstream shifts in the ion acceleration region. Furthermore, the model exhibits predictive accuracy to within 10\% when evaluated on flow rates and pressures not included in the training data, and the model can predict some performance characteristics across test facilities to within the same range. Evaluated on the same data as prior work [Eckels et al. 2024], the model reduced predictive errors in thrust and discharge current by greater than 50%. An extrapolation to on-orbit performance is performed with an error of 9\%, capturing trends in discharge current but not thrust. Possible extensions and improvements are discussed in the context of using data for predictive Hall thruster modeling across vacuum facilities.