This is a long paper, an essay, on ambiguity, pragmatics, legal ecosystems, and the expressive function of law. It is divided into two parts and fifteen sections. The first part (Pragmatics) addresses ambiguity from the perspective of linguistic and cognitive pragmatics in the legal field. The second part (Computing) deals with this issue from the point of view of human-centered design and artificial intelligence, specifically focusing on the notion and modelling of rules and what it means to comply with the rules. This is necessary for the scaffolding of smart legal ecosystems (SLE). I will develop this subject with the example of the architecture, information flows, and smart ecosystem of OPTIMAI, an EU project of Industry 4.0 for zero-defect manufacturing (Optimizing Manufacturing Processes through Artificial Intelligence and Virtualization).

This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human cognitive processes, our method integrates generative language models and physics-based simulators to foster analytical thinking and creative imagination of novel affordances. Structured with a tripartite framework consisting of analysis, imagination, and evaluation, our system "analyzes" the requested affordance names into interaction-based definitions, "imagines" the virtual scenarios, and "evaluates" the object affordance. If an object is recognized as possessing the requested affordance, our method also predicts the optimal pose for such functionality, and how a potential user can interact with it. Tuned on only a few synthetic examples across 3 affordance classes, our pipeline achieves a very high success rate on affordance classification and functional pose prediction of 8 classes of novel objects, outperforming learning-based baselines. Validation through real robot manipulating experiments demonstrates the practical applicability of the imagined user interaction, showcasing the system's ability to independently conceptualize unseen affordances and interact with new objects and scenarios in everyday settings.

Turning to a friend or coworker can make tricky problems easier to tackle. Now it looks like having AI chatbots team up with each other can make them more effective. I've been playing this week with AutoGen, an open source software framework for AI agent collaboration developed by researchers at Microsoft and academics at Pennsylvania State University, the University of Washington, and Xidian University in China. The software taps OpenAI's large language model GPT-4 to let you create multiple AI agents with different personas, roles, and objectives that can be prompted to solve specific problems. To put the idea of AI collaboration to the test, I had two AI agents work together on a plan for how to write about AI collaboration.

The min-max vehicle routing problem (min-max VRP) traverses all given customers by assigning several routes and aims to minimize the length of the longest route. Recently, reinforcement learning (RL)-based sequential planning methods have exhibited advantages in solving efficiency and optimality. However, these methods fail to exploit the problem-specific properties in learning representations, resulting in less effective features for decoding optimal routes. This paper considers the sequential planning process of min-max VRPs as two coupled optimization tasks: customer partition for different routes and customer navigation in each route (i.e., partition and navigation). To effectively process min-max VRP instances, we present a novel attention-based Partition-and-Navigation encoder (P&N Encoder) that learns distinct embeddings for partition and navigation. Furthermore, we utilize an inherent symmetry in decoding routes and develop an effective agent-permutation-symmetric (APS) loss function. Experimental results demonstrate that the proposed Decoupling-Partition-Navigation (DPN) method significantly surpasses existing learning-based methods in both single-depot and multi-depot min-max VRPs. Our code is available at

Traffic signal control (TSC) is a promising low-cost measure to enhance transportation efficiency without affecting existing road infrastructure. While various reinforcement learning-based TSC methods have been proposed and experimentally outperform conventional rule-based methods, none of them has been deployed in the real world. An essential gap lies in the oversimplification of the scenarios in terms of intersection heterogeneity and road network intricacy. To make TSC applicable in urban traffic management, we target TSC coordination in city-scale high-authenticity road networks, aiming to solve the three unique and important challenges: city-level scalability, heterogeneity of real-world intersections, and effective coordination among intricate neighbor connections. Since optimizing multiple agents in a parameter-sharing paradigm can boost the training efficiency and help achieve scalability, we propose our method, CityLight, based on the well-acknowledged optimization framework, parameter-sharing MAPPO. To ensure the unified policy network can learn to fit large-scale heterogeneous intersections and tackle the intricate between-neighbor coordination, CityLight proposes a universal representation module that consists of two key designs: heterogeneous intersection alignment and neighborhood impact alignment for coordination. To further boost coordination, CityLight adopts neighborhood-integrated rewards to transition from achieving local optimal to global optimal. Extensive experiments on datasets with hundreds to tens of thousands of real-world intersections and authentic traffic demands validate the surprising effectiveness and generalizability of CityLight, with an overall performance gain of 11.66% and a 22.59% improvement in transfer scenarios in terms of throughput.

This paper presents a novel approach in Explainable AI (XAI), integrating contrastive explanations with differential privacy in clustering methods. For several basic clustering problems, including $k$-median and $k$-means, we give efficient differential private contrastive explanations that achieve essentially the same explanations as those that non-private clustering explanations can obtain. We define contrastive explanations as the utility difference between the original clustering utility and utility from clustering with a specifically fixed centroid. In each contrastive scenario, we designate a specific data point as the fixed centroid position, enabling us to measure the impact of this constraint on clustering utility under differential privacy. Extensive experiments across various datasets show our method's effectiveness in providing meaningful explanations without significantly compromising data privacy or clustering utility. This underscores our contribution to privacy-aware machine learning, demonstrating the feasibility of achieving a balance between privacy and utility in the explanation of clustering tasks.

Conformal Prediction (CP) is a popular uncertainty quantification method that provides distribution-free, statistically valid prediction sets, assuming that training and test data are exchangeable. In such a case, CP's prediction sets are guaranteed to cover the (unknown) true test output with a user-specified probability. Nevertheless, this guarantee is violated when the data is subjected to adversarial attacks, which often result in a significant loss of coverage. Recently, several approaches have been put forward to recover CP guarantees in this setting. These approaches leverage variations of randomised smoothing to produce conservative sets which account for the effect of the adversarial perturbations. They are, however, limited in that they only support $\ell^2$-bounded perturbations and classification tasks. This paper introduces VRCP (Verifiably Robust Conformal Prediction), a new framework that leverages recent neural network verification methods to recover coverage guarantees under adversarial attacks. Our VRCP method is the first to support perturbations bounded by arbitrary norms including $\ell^1$, $\ell^2$, and $\ell^\infty$, as well as regression tasks. We evaluate and compare our approach on image classification tasks (CIFAR10, CIFAR100, and TinyImageNet) and regression tasks for deep reinforcement learning environments. In every case, VRCP achieves above nominal coverage and yields significantly more efficient and informative prediction regions than the SotA.

Reinforcement Learning (RL) has achieved great success in sequential decision-making problems, but often at the cost of a large number of agent-environment interactions. To improve sample efficiency, methods like Reinforcement Learning from Expert Demonstrations (RLED) introduce external expert demonstrations to facilitate agent exploration during the learning process. In practice, these demonstrations, which are often collected from human users, are costly and hence often constrained to a limited amount. How to select the best set of human demonstrations that is most beneficial for learning therefore becomes a major concern. This paper presents EARLY (Episodic Active Learning from demonstration querY), an algorithm that enables a learning agent to generate optimized queries of expert demonstrations in a trajectory-based feature space. Based on a trajectory-level estimate of uncertainty in the agent's current policy, EARLY determines the optimized timing and content for feature-based queries. By querying episodic demonstrations as opposed to isolated state-action pairs, EARLY improves the human teaching experience and achieves better learning performance. We validate the effectiveness of our method in three simulated navigation tasks of increasing difficulty. The results show that our method is able to achieve expert-level performance for all three tasks with convergence over 30\% faster than other baseline methods when demonstrations are generated by simulated oracle policies. The results of a follow-up pilot user study (N=18) further validate that our method can still maintain a significantly better convergence in the case of human expert demonstrators while achieving a better user experience in perceived task load and consuming significantly less human time.

This paper develops a scheduling protocol for a team of autonomous robots that operate in long-term persistent tasks. The proposed framework, called meSch, accounts for the robots' limited battery capacity and the presence of a single charging station, and achieves the following contributions: 1) First, it guarantees exclusive use of the charging station by one robot at a time; the approach is online, applicable to general nonlinear robot models, does not require robots to be deployed at different times, and can handle robots with different discharge rates. 2) Second, we consider the scenario when the charging station is mobile and subject to uncertainty. This approach ensures that the robots can rendezvous with the charging station while considering the uncertainty in its position. Finally, we provide the evaluation of the efficacy of meSch in simulation and experimental case studies.

Abstract-- Achieving safe and precise landings for a swarm of drones poses a significant challenge, primarily attributed to conventional control and planning methods. This paper presents the implementation of multi-agent deep reinforcement learning (MADRL) techniques for the precise landing of a drone swarm at relocated target locations. The system is trained in a realistic simulated environment with a maximum velocity of 3 m/s in training spaces of 4 x 4 x 4 m and deployed utilizing Crazyflie drones with a Vicon indoor localization system. This research highlights drone landing technologies that eliminate the need for analytical centralized systems, potentially offering scalability and revolutionizing applications in logistics, safety, and rescue missions. Swarm drones, characterized by their collaborative behavior, are driving research due to their disruptive potential across industries like agriculture, construction, entertainment, and logistics [1], [2].