Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have difficulty in ensuring the social attributes of robots in long-term and cross-environment deployments. This letter introduces an online context learning method that aims to empower robots to adapt to new social environments online. The proposed method adopts a two-layer structure. The bottom layer is built using a deep reinforcement learning-based method to ensure the output of basic robot navigation commands. The upper layer is implemented using an online robot learning-based method to socialize the control commands suggested by the bottom layer. Experiments using a community-wide simulator show that our method outperforms the state-of-the-art ones. Experimental results in the most challenging scenarios show that our method improves the performance of the state-of-the-art by 8%. The source code of the proposed method, the data used, and the tools for the per-training step will be publicly available at https://github.com/Nedzhaken/SOCSARL-OL.

We propose a multi-agent debate as optimization (DAO) system for event extraction, where the primary objective is to iteratively refine the large language models (LLMs) outputs through debating without parameter tuning. In DAO, we introduce two novel modules: the Diverse-RAG (DRAG) module and the Adaptive Conformal Prediction (AdaCP) module. DRAG systematically retrieves supporting information that best fits the debate discussion, while AdaCP enhances the accuracy and reliability of event extraction by effectively rejecting less promising answers. Experimental results demonstrate a significant reduction in the performance gap between supervised approaches and tuning-free LLM-based methods by 18.1% and 17.8% on ACE05 and 17.9% and 15.2% on CASIE for event detection and argument extraction respectively.

Multi-agent debate has proven effective in improving large language models quality for reasoning and factuality tasks. While various role-playing strategies in multi-agent debates have been explored, in terms of the communication among agents, existing approaches adopt a brute force algorithm -- each agent can communicate with all other agents. In this paper, we systematically investigate the effect of communication connectivity in multi-agent systems. Our experiments on GPT and Mistral models reveal that multi-agent debates leveraging sparse communication topology can achieve comparable or superior performance while significantly reducing computational costs. Furthermore, we extend the multi-agent debate framework to multimodal reasoning and alignment labeling tasks, showcasing its broad applicability and effectiveness. Our findings underscore the importance of communication connectivity on enhancing the efficiency and effectiveness of the "society of minds" approach.

Enabling embodied agents to complete complex human instructions from natural language is crucial to autonomous systems in household services. Conventional methods can only accomplish human instructions in the known environment where all interactive objects are provided to the embodied agent, and directly deploying the existing approaches for the unknown environment usually generates infeasible plans that manipulate non-existing objects. On the contrary, we propose an embodied instruction following (EIF) method for complex tasks in the unknown environment, where the agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. Specifically, we build a hierarchical embodied instruction following framework including the high-level task planner and the low-level exploration controller with multimodal large language models. We then construct a semantic representation map of the scene with dynamic region attention to demonstrate the known visual clues, where the goal of task planning and scene exploration is aligned for human instruction. For the task planner, we generate the feasible step-by-step plans for human goal accomplishment according to the task completion process and the known visual clues. For the exploration controller, the optimal navigation or object interaction policy is predicted based on the generated step-wise plans and the known visual clues. The experimental results demonstrate that our method can achieve 45.09% success rate in 204 complex human instructions such as making breakfast and tidying rooms in large house-level scenes.

A common method to solve complex problems in software engineering, is to divide the problem into multiple sub-problems. Inspired by this, we propose a Modular Architecture for Software-engineering AI (MASAI) agents, where different LLM-powered sub-agents are instantiated with well-defined objectives and strategies tuned to achieve those objectives. Our modular architecture offers several advantages: (1) employing and tuning different problem-solving strategies across sub-agents, (2) enabling sub-agents to gather information from different sources scattered throughout a repository, and (3) avoiding unnecessarily long trajectories which inflate costs and add extraneous context. MASAI enabled us to achieve the highest performance (28.33% resolution rate) on the popular and highly challenging SWE-bench Lite dataset consisting of 300 GitHub issues from 11 Python repositories. We conduct a comprehensive evaluation of MASAI relative to other agentic methods and analyze the effects of our design decisions and their contribution to the success of MASAI.

Existing benchmarks do not test language agents on their interaction with human users or ability to follow domain-specific rules, both of which are vital for deploying them in real world applications. We propose $\tau$-bench, a benchmark emulating dynamic conversations between a user (simulated by language models) and a language agent provided with domain-specific API tools and policy guidelines. We employ an efficient and faithful evaluation process that compares the database state at the end of a conversation with the annotated goal state. We also propose a new metric (pass^k) to evaluate the reliability of agent behavior over multiple trials. Our experiments show that even state-of-the-art function calling agents (like gpt-4o) succeed on <50% of the tasks, and are quite inconsistent (pass^8 <25% in retail). Our findings point to the need for methods that can improve the ability of agents to act consistently and follow rules reliably.

The intelligent interaction model based on large models reduces the differences in user experience across various system platforms but faces challenges in multi-agent collaboration and resource sharing. To demonstrate a uniform user experience across different foundational software platforms and address resource coordination management challenges, this paper proposes a multi-agent operating system based on the open-source Kylin. The research method involves empowering agents with large models to serve applications. First, by introducing management role agents and vertical multi-agent collaboration to construct or replace typical application software. Second, by studying system-level shared resource scheduling strategies to enhance user experience and optimize resource utilization. And finally, by validating the efficiency and superiority of the large model multi-agent operating system through real applications and scoring intelligence. The feasibility of this system is demonstrated, providing a new perspective for the development of multi-agent operating systems. Experimental results show significant advantages of multi-agent collaboration in various application scenarios.

Individuals with diverse motor abilities often benefit from intensive and specialized rehabilitation therapies aimed at enhancing their functional recovery. Nevertheless, the challenge lies in the restricted availability of neurorehabilitation professionals, hindering the effective delivery of the necessary level of care. Robotic devices hold great potential in reducing the dependence on medical personnel during therapy but, at the same time, they generally lack the crucial human interaction and motivation that traditional in-person sessions provide. To bridge this gap, we introduce an AI-based system aimed at delivering personalized, out-of-hospital assistance during neurorehabilitation training. This system includes a rehabilitation training device, affective signal classification models, training exercises, and a socially interactive agent as the user interface. With the assistance of a professional, the envisioned system is designed to be tailored to accommodate the unique rehabilitation requirements of an individual patient. Conceptually, after a preliminary setup and instruction phase, the patient is equipped to continue their rehabilitation regimen autonomously in the comfort of their home, facilitated by a socially interactive agent functioning as a virtual coaching assistant. Our approach involves the integration of an interactive socially-aware virtual agent into a neurorehabilitation robotic framework, with the primary objective of recreating the social aspects inherent to in-person rehabilitation sessions. We also conducted a feasibility study to test the framework with healthy patients. The results of our preliminary investigation indicate that participants demonstrated a propensity to adapt to the system. Notably, the presence of the interactive agent during the proposed exercises did not act as a source of distraction; instead, it positively impacted users' engagement.

Abstract--Compared with the widely investigated homogeneous multi-robot collaboration, heterogeneous robots with different capabilities can provide a more efficient and flexible collaboration for more complex tasks. In this paper, we consider a more challenging heterogeneous ad hoc teamwork collaboration problem where an ad hoc robot joins an existing heterogeneous team for a shared goal. Specifically, the ad hoc robot collaborates with unknown teammates without prior coordination, and it is expected to generate an appropriate cooperation policy to improve the efficiency of the whole team. To solve this challenging problem, we leverage the remarkable potential of the large language model (LLM) to establish a decentralized heterogeneous ad hoc teamwork collaboration framework that focuses on generating reasonable policy for an ad hoc robot to collaborate with original heterogeneous teammates. A training-free hierarchical dynamic planner is developed using the LLM together with the newly proposed Interactive Reflection of Thoughts (IRoT) method for the ad hoc agent to adapt to different teams. Then, the new team collaborates and finally finishes the task. Imagine after a natural disaster such as an earthquake or team at any time from any location, and then a heterogeneous hurricane, a team of robots is dispatched for the rescue task. Since the situation of a disaster site is complex, robots of During the past years, the multi-robot collaboration task different capabilities may be required for the rescue. These has been widely investigated, and a bunch of multi-agent robots are likely to be brought from different places and thus embodied tasks are proposed where multiple agents learn arrive at the site at different times. The coming robot doesn't proper strategies to collaborate efficiently [17, 18, 22, 23, 42, have any prior information on existing teammates, and it is 44, 45, 52] and solve complex embodied tasks [27, 35]. All expected to collaborate efficiently and robustly with previously these works only consider homogeneous agents with the same unknown teammates for the same goal. However, in real-world applications, the robots describes a typical heterogeneous ad hoc teamwork, and the may be faced with more complicated situations such as seismic new coming robot is called an ad hoc robot. It is necessary to leverage heterogeneous ad hoc teamwork collaboration is demonstrated robots with different capabilities to accomplish the task better in Figure 1, where heterogeneous robots of different capabilities [14, 19, 36, 37, 41]. Meanwhile, the ad hoc teamwork can compose any team, and the original heterogeneous team collaboration is an important problem in the heterogeneous collaborates to execute a task. An ad hoc robot could join this multi-robot collaboration, which has been rarely addressed. Beijing University of Posts and Telecommunications, Beijing, China.

Cooperative Multi-Agent Reinforcement Learning (MARL) algorithms, trained only to optimize task reward, can lead to a concentration of power where the failure or adversarial intent of a single agent could decimate the reward of every agent in the system. In the context of teams of people, it is often useful to explicitly consider how power is distributed to ensure no person becomes a single point of failure. Here, we argue that explicitly regularizing the concentration of power in cooperative RL systems can result in systems which are more robust to single agent failure, adversarial attacks, and incentive changes of co-players. To this end, we define a practical pairwise measure of power that captures the ability of any co-player to influence the ego agent's reward, and then propose a power-regularized objective which balances task reward and power concentration. Given this new objective, we show that there always exists an equilibrium where every agent is playing a power-regularized best-response balancing power and task reward. Moreover, we present two algorithms for training agents towards this power-regularized objective: Sample Based Power Regularization (SBPR), which injects adversarial data during training; and Power Regularization via Intrinsic Motivation (PRIM), which adds an intrinsic motivation to regulate power to the training objective. Our experiments demonstrate that both algorithms successfully balance task reward and power, leading to lower power behavior than the baseline of task-only reward and avoid catastrophic events in case an agent in the system goes off-policy.