In this technical report we present TrafficBots V1.5, a baseline method for the closed-loop simulation of traffic agents. TrafficBots V1.5 achieves baseline-level performance and a 3rd place ranking in the Waymo Open Sim Agents Challenge (WOSAC) 2024. It is a simple baseline that combines TrafficBots, a CVAE-based multi-agent policy conditioned on each agent's individual destination and personality, and HPTR, the heterogeneous polyline transformer with relative pose encoding. To improve the performance on the WOSAC leaderboard, we apply scheduled teacher-forcing at the training time and we filter the sampled scenarios at the inference time. The code is available at https://github.com/zhejz/TrafficBotsV1.5.

Multi-agent path finding (MAPF) is the problem of finding paths for multiple agents such that they do not collide. This problem manifests in numerous real-world applications such as controlling transportation robots in automated warehouses, moving characters in video games, and coordinating self-driving cars in intersections. Finding optimal solutions to MAPF is NP-Hard, yet modern optimal solvers can scale to hundreds of agents and even thousands in some cases. Different solvers employ different approaches, and there is no single state-of-the-art approach for all problems. Furthermore, there are no clear, provable, guidelines for choosing when each optimal MAPF solver to use. Prior work employed Algorithm Selection (AS) techniques to learn such guidelines from past data. A major challenge when employing AS for choosing an optimal MAPF algorithm is how to encode the given MAPF problem. Prior work either used hand-crafted features or an image representation of the problem. We explore graph-based encodings of the MAPF problem and show how they can be used on-the-fly with a modern graph embedding algorithm called FEATHER. Then, we show how this encoding can be effectively joined with existing encodings, resulting in a novel AS method we call MAPF Algorithm selection via Graph embedding (MAG). An extensive experimental evaluation of MAG on several MAPF algorithm selection tasks reveals that it is either on-par or significantly better than existing methods.

In this article, we present a novel information access approach inspired by the information foraging theory (IFT) and elephant herding optimization (EHO). First, we propose a model for information access on social media based on the IFT. We then elaborate an adaptation of the original EHO algorithm to apply it to the information access problem. The combination of the IFT and EHO constitutes a good opportunity to find relevant information on social media. However, when dealing with voluminous data, the performance undergoes a sharp drop. To overcome this issue, we developed an enhanced version of EHO for large scale information access. We introduce new operators to the algorithm, including territories delimitation and clan migration using clustering. To validate our work, we created a dataset of more than 1.4 million tweets, on which we carried out extensive experiments. The outcomes reveal the ability of our approach to find relevant information in an effective and efficient way. They also highlight the advantages of the improved version of EHO over the original algorithm regarding different aspects. Furthermore, we undertook a comparative study with two other metaheuristic-based information foraging approaches, namely ant colony system and particle swarm optimization. Overall, the results are very promising.

Large language model agents have exhibited exceptional performance across a range of complex interactive tasks. Recent approaches have utilized tuning with expert trajectories to enhance agent performance, yet they primarily concentrate on outcome rewards, which may lead to errors or suboptimal actions due to the absence of process supervision signals. In this paper, we introduce the Iterative step-level Process Refinement (IPR) framework, which provides detailed step-by-step guidance to enhance agent training. Specifically, we adopt the Monte Carlo method to estimate step-level rewards. During each iteration, the agent explores along the expert trajectory and generates new actions. These actions are then evaluated against the corresponding step of expert trajectory using step-level rewards. Such comparison helps identify discrepancies, yielding contrastive action pairs that serve as training data for the agent. Our experiments on three complex agent tasks demonstrate that our framework outperforms a variety of strong baselines. Moreover, our analytical findings highlight the effectiveness of IPR in augmenting action efficiency and its applicability to diverse models.

Theory of Mind (ToM) can be used to assess the capabilities of Large Language Models (LLMs) in complex scenarios where social reasoning is required. While the research community has proposed many ToM benchmarks, their hardness varies greatly, and their complexity is not well defined. This work proposes a framework to measure the complexity of ToM tasks. We quantify a problem's complexity as the number of states necessary to solve it correctly. Our complexity measure also accounts for spurious states of a ToM problem designed to make it apparently harder. We use our method to assess the complexity of five widely adopted ToM benchmarks. On top of this framework, we design a prompting technique that augments the information available to a model with a description of how the environment changes with the agents' interactions. We name this technique Discrete World Models (DWM) and show how it elicits superior performance on ToM tasks.

Distributed sensing by cooperative drone swarms is crucial for several Smart City applications, such as traffic monitoring and disaster response. Using an indoor lab with inexpensive drones, a testbed supports complex and ambitious studies on these systems while maintaining low cost, rigor, and external validity. This paper introduces the Multi-drone Sensing Experimentation Testbed (M-SET), a novel platform designed to prototype, develop, test, and evaluate distributed sensing with swarm intelligence. M-SET addresses the limitations of existing testbeds that fail to emulate collisions, thus lacking realism in outdoor environments. By integrating a collision avoidance method based on a potential field algorithm, M-SET ensures collision-free navigation and sensing, further optimized via a multi-agent collective learning algorithm. Extensive evaluation demonstrates accurate energy consumption estimation and a low risk of collisions, providing a robust proof-of-concept. New insights show that M-SET has significant potential to support ambitious research with minimal cost, simplicity, and high sensing quality.

Large language models (LLMs) are proven to benefit a lot from retrieval-augmented generation (RAG) in alleviating hallucinations confronted with knowledge-intensive questions. RAG adopts information retrieval techniques to inject external knowledge from semantic-relevant documents as input contexts. However, due to today's Internet being flooded with numerous noisy and fabricating content, it is inevitable that RAG systems are vulnerable to these noises and prone to respond incorrectly. To this end, we propose to optimize the retrieval-augmented Generator with a Adversarial Tuning Multi-agent system (ATM). The ATM steers the Generator to have a robust perspective of useful documents for question answering with the help of an auxiliary Attacker agent. The Generator and the Attacker are tuned adversarially for several iterations. After rounds of multi-agent iterative tuning, the Generator can eventually better discriminate useful documents amongst fabrications. The experimental results verify the effectiveness of ATM and we also observe that the Generator can achieve better performance compared to state-of-the-art baselines.

Games are widely used as research environments for multi-agent reinforcement learning (MARL), but they pose three significant challenges: limited customization, high computational demands, and oversimplification. To address these issues, we introduce the first publicly available map editor for the popular mobile game Honor of Kings and design a lightweight environment, Mini Honor of Kings (Mini HoK), for researchers to conduct experiments. Mini HoK is highly efficient, allowing experiments to be run on personal PCs or laptops while still presenting sufficient challenges for existing MARL algorithms. We have tested our environment on common MARL algorithms and demonstrated that these algorithms have yet to find optimal solutions within this environment. This facilitates the dissemination and advancement of MARL methods within the research community. Additionally, we hope that more researchers will leverage the Honor of Kings map editor to develop innovative and scientifically valuable new maps. Our code and user manual are available at: https://github.com/tencent-ailab/mini-hok.

Recent pandemics have highlighted vulnerabilities in our global economic systems, especially supply chains. Possible future pandemic raises a dilemma for businesses owners between short-term profitability and long-term supply chain resilience planning. In this study, we propose a novel agent-based simulation model integrating extended Susceptible-Infected-Recovered (SIR) epidemiological model and supply and demand economic model to evaluate supply chain resilience strategies during pandemics. Using this model, we explore a range of supply chain resilience strategies under pandemic scenarios using in silico experiments. We find that a balanced approach to supply chain resilience performs better in both pandemic and non-pandemic times compared to extreme strategies, highlighting the importance of preparedness in the form of a better supply chain resilience. However, our analysis shows that the exact supply chain resilience strategy is hard to obtain for each firm and is relatively sensitive to the exact profile of the pandemic and economic state at the beginning of the pandemic. As such, we used a machine learning model that uses the agent-based simulation to estimate a near-optimal supply chain resilience strategy for a firm. The proposed model offers insights for policymakers and businesses to enhance supply chain resilience in the face of future pandemics, contributing to understanding the trade-offs between short-term gains and long-term sustainability in supply chain management before and during pandemics.

Training corpuses for vision language models (VLMs) typically lack sufficient amounts of decision-centric data. This renders off-the-shelf VLMs sub-optimal for decision-making tasks such as in-the-wild device control through graphical user interfaces (GUIs). While training with static demonstrations has shown some promise, we show that such methods fall short for controlling real GUIs due to their failure to deal with real-world stochasticity and non-stationarity not captured in static observational data. This paper introduces a novel autonomous RL approach, called DigiRL, for training in-the-wild device control agents through fine-tuning a pre-trained VLM in two stages: offline RL to initialize the model, followed by offline-to-online RL. To do this, we build a scalable and parallelizable Android learning environment equipped with a VLM-based evaluator and develop a simple yet effective RL approach for learning in this domain. Our approach runs advantage-weighted RL with advantage estimators enhanced to account for stochasticity along with an automatic curriculum for deriving maximal learning signal. We demonstrate the effectiveness of DigiRL using the Android-in-the-Wild (AitW) dataset, where our 1.3B VLM trained with RL achieves a 49.5% absolute improvement -- from 17.7 to 67.2% success rate -- over supervised fine-tuning with static human demonstration data. These results significantly surpass not only the prior best agents, including AppAgent with GPT-4V (8.3% success rate) and the 17B CogAgent trained with AitW data (38.5%), but also the prior best autonomous RL approach based on filtered behavior cloning (57.8%), thereby establishing a new state-of-the-art for digital agents for in-the-wild device control.