Sim2real transfer has received increasing attention lately due to the success of learning robotic tasks in simulation end-to-end. While there has been a lot of progress in transferring vision-based navigation policies, the existing sim2real strategy for audio-visual navigation performs data augmentation empirically without measuring the acoustic gap. The sound differs from light in that it spans across much wider frequencies and thus requires a different solution for sim2real. We propose the first treatment of sim2real for audio-visual navigation by disentangling it into acoustic field prediction (AFP) and waypoint navigation. We first validate our design choice in the SoundSpaces simulator and show improvement on the Continuous AudioGoal navigation benchmark. We then collect real-world data to measure the spectral difference between the simulation and the real world by training AFP models that only take a specific frequency subband as input. We further propose a frequency-adaptive strategy that intelligently selects the best frequency band for prediction based on both the measured spectral difference and the energy distribution of the received audio, which improves the performance on the real data. Lastly, we build a real robot platform and show that the transferred policy can successfully navigate to sounding objects. This work demonstrates the potential of building intelligent agents that can see, hear, and act entirely from simulation, and transferring them to the real world.

The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by employing a multi-agent rollout approach within a mixed autonomy environment. The study concentrates on coordinating the speed of human-driven vehicles by longitudinally controlling AVs, aiming to dynamically optimize traffic flow and alleviate congestion at highway bottlenecks in real-time. We model the problem as a decentralized partially observable Markov decision process (Dec-POMDP) and propose an improved multi-agent rollout algorithm. By employing agent-by-agent policy iterations, our approach implicitly considers cooperation among multiple agents and seamlessly adapts to complex scenarios where the number of agents dynamically varies. Validated in a real-world network with varying AV penetration rates and traffic flow, the simulations demonstrate that the multi-agent rollout algorithm significantly enhances performance, reducing average travel time on bottleneck segments by 9.42% with a 10% AV penetration rate.

Social media platforms such as Twitter, Reddit, and Sina Weibo play a crucial role in global communication but often encounter strict regulations in geopolitically sensitive regions. This situation has prompted users to ingeniously modify their way of communicating, frequently resorting to coded language in these regulated social media environments. This shift in communication is not merely a strategy to counteract regulation, but a vivid manifestation of language evolution, demonstrating how language naturally evolves under societal and technological pressures. Studying the evolution of language in regulated social media contexts is of significant importance for ensuring freedom of speech, optimizing content moderation, and advancing linguistic research. This paper proposes a multi-agent simulation framework using Large Language Models (LLMs) to explore the evolution of user language in regulated social media environments. The framework employs LLM-driven agents: supervisory agent who enforce dialogue supervision and participant agents who evolve their language strategies while engaging in conversation, simulating the evolution of communication styles under strict regulations aimed at evading social media regulation. The study evaluates the framework's effectiveness through a range of scenarios from abstract scenarios to real-world situations. Key findings indicate that LLMs are capable of simulating nuanced language dynamics and interactions in constrained settings, showing improvement in both evading supervision and information accuracy as evolution progresses. Furthermore, it was found that LLM agents adopt different strategies for different scenarios.

The transformation of smart mobility is unprecedented--Autonomous, shared and electric connected vehicles, along with the urgent need to meet ambitious net-zero targets by shifting to low-carbon transport modalities result in new traffic patterns and requirements for real-time computation at large-scale, for instance, augmented reality applications. The cloud computing paradigm can neither respond to such low-latency requirements nor adapt resource allocation to such dynamic spatio-temporal service requests. This paper addresses this grand challenge by introducing a novel decentralized optimization framework for mobility-aware edge-to-cloud resource allocation, service offloading, provisioning and load-balancing. In contrast to related work, this framework comes with superior efficiency and cost-effectiveness under evaluation in real-world traffic settings and mobility datasets. This breakthrough capability of 'computing follows vehicles' proves able to reduce utilization variance by more than 40 times, while preventing service deadline violations by 14%-34%.

Epistemic analysis of distributed systems is one of the biggest successes among applications of logic in computer science. The reason for that is that agents' actions are necessarily guided by their knowledge. Thus, epistemic modal logic, with its knowledge and belief modalities (and group versions thereof), has played a vital role in establishing both impossibility results and necessary conditions for solvable distributed tasks. In distributed systems, knowledge is largely attained via communication. It has been standard in both distributed systems and dynamic epistemic logic to treat incoming messages as trustworthy, thus, creating difficulties in the epistemic analysis of byzantine distributed systems where faulty agents may lie. In this paper, we argue that handling such communication scenarios calls for additional modalities representing the informational content of messages that should not be taken at face value. We present two such modalities: hope for the case of fully byzantine agents and creed for non-uniform communication protocols in general.

Recent advancement in reinforcement learning research has witnessed much development on multiagent reinforcement learning (MARL). However, most of the works focus on risk-neutral agents, which may not be suitable for modeling the real world. For example, in investment activities, different investors have different risk preferences depending on their roles in the market. Some act as speculators and are risk-seeking, while others are bound by regulatory constraints and are thus risk-averse. Another example is multi-player online role-playing games, where each of the players can be considered an agent. Whereas some (risk-seeking) players enjoy exploring uncharted regions in the game, others (risk-averse players) prefer to playing in areas that are well explored and come with less uncertainty. It is not hard to see that in the above examples, modeling each agent as uniformly risk-neutral is inappropriate. This naturally calls for a more sophisticated modeling framework that takes into account of heterogeneous risk preferences of agents. In this paper, we study the problem of risk-sensitive MARL under the setting of general-sum Markov games (MGs), a more realistic multi-agent model in which the agents may take different risk preferences.

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a comprehensive end-to-end framework aimed at fostering trustworthy bidirectional human-robot interaction in collaborative environments for the social navigation of mobile robots. In this framework, the robot communicates verbally while the human guides with gestures. Our method enables a mobile robot to predict the trajectory of people and adjust its route in a socially-aware manner. In case of conflict between human and robot decisions, detected through visual examination, the route is dynamically modified based on human preference while verbal communication is maintained. We present our pipeline, framework design, and preliminary experiments that form the foundation of our proposition.

This work focuses on the entropy-regularized independent natural policy gradient (NPG) algorithm in multi-agent reinforcement learning. In this work, agents are assumed to have access to an oracle with exact policy evaluation and seek to maximize their respective independent rewards. Each individual's reward is assumed to depend on the actions of all the agents in the multi-agent system, leading to a game between agents. We assume all agents make decisions under a policy with bounded rationality, which is enforced by the introduction of entropy regularization. In practice, a smaller regularization implies the agents are more rational and behave closer to Nash policies. On the other hand, agents with larger regularization acts more randomly, which ensures more exploration. We show that, under sufficient entropy regularization, the dynamics of this system converge at a linear rate to the quantal response equilibrium (QRE). Although regularization assumptions prevent the QRE from approximating a Nash equilibrium, our findings apply to a wide range of games, including cooperative, potential, and two-player matrix games. We also provide extensive empirical results on multiple games (including Markov games) as a verification of our theoretical analysis.

Autonomous virtual agents are often limited by their singular mode of interaction with real-world environments, restricting their versatility. To address this, we propose the Multi-Modal Agent Collaboration framework (MMAC-Copilot), a framework utilizes the collective expertise of diverse agents to enhance interaction ability with operating systems. The framework introduces a team collaboration chain, enabling each participating agent to contribute insights based on their specific domain knowledge, effectively reducing the hallucination associated with knowledge domain gaps. To evaluate the performance of MMAC-Copilot, we conducted experiments using both the GAIA benchmark and our newly introduced Visual Interaction Benchmark (VIBench). VIBench focuses on non-API-interactable applications across various domains, including 3D gaming, recreation, and office scenarios. MMAC-Copilot achieved exceptional performance on GAIA, with an average improvement of 6.8\% over existing leading systems. Furthermore, it demonstrated remarkable capability on VIBench, particularly in managing various methods of interaction within systems and applications. These results underscore MMAC-Copilot's potential in advancing the field of autonomous virtual agents through its innovative approach to agent collaboration.

Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion not only relying on its own observations, but also considering the observations of its peers. Centralized solutions to multi-robot coordination are susceptible to central node failure and require a sophisticated communication infrastructure for reliable operation. Current decentralized active mapping methods consider simplistic robot models with linear-Gaussian observations and Euclidean robot states. In this work, we present a distributed multi-robot mapping and planning method, called Riemannian Optimization for Active Mapping (ROAM). We formulate an optimization problem over a graph with node variables belonging to a Riemannian manifold and a consensus constraint requiring feasible solutions to agree on the node variables. We develop a distributed Riemannian optimization algorithm that relies only on one-hop communication to solve the problem with consensus and optimality guarantees. We show that multi-robot active mapping can be achieved via two applications of our distributed Riemannian optimization over different manifolds: distributed estimation of a 3-D semantic map and distributed planning of SE(3) trajectories that minimize map uncertainty. We demonstrate the performance of ROAM in simulation and real-world experiments using a team of robots with RGB-D cameras.