In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have established a comprehensive framework to understand disturbances at individual and flow levels. Our framework provides specialized computational strategies for in-depth studies of human-robot interactions from both micro and macro perspectives. By employing novel penalty terms, namely Flow Disturbance Penalty (FDP) and Individual Disturbance Penalty (IDP), our framework facilitates a more nuanced assessment and analysis of the robot navigation's impact on pedestrians. Secondly, we introduce an innovative sampling-based navigation system that adeptly integrates a suite of safety measures with the predictability of robotic movements. This system not only accounts for traditional factors such as trajectory length and travel time but also actively incorporates pedestrian awareness. Our navigation system aims to minimize disturbances and promote harmonious coexistence by considering safety protocols, trajectory clarity, and pedestrian engagement. Lastly, we validate our algorithm's effectiveness and real-time performance through simulations and real-world tests, demonstrating its ability to navigate with minimal pedestrian disturbance in various environments.

Individuals, despite having varied life experiences and learning processes, can communicate effectively through languages. This study aims to explore the efficiency of language as a communication medium. We put forth two specific hypotheses: First, discrete messages are more effective than continuous ones when agents have diverse personal experiences. Second, communications using multiple discrete tokens are more advantageous than those using a single token. To valdate these hypotheses, we designed multi-agent machine learning experiments to assess communication efficiency using various information transmission methods between speakers and listeners. Our empirical findings indicate that, in scenarios where agents are exposed to different data, communicating through sentences composed of discrete tokens offers the best inter-agent communication efficiency. The limitations of our finding include lack of systematic advantages over other more sophisticated encoder-decoder model such as variational autoencoder and lack of evluation on non-image dataset, which we will leave for future studies.

We study how experience with asset price bubbles changes the trading strategies of reinforcement learning (RL) traders and ask whether the change in trading strategies helps to prevent future bubbles. We train the RL traders in a multi-agent market simulation platform, ABIDES, and compare the strategies of traders trained with and without bubble experience. We find that RL traders without bubble experience behave like short-term momentum traders, whereas traders with bubble experience behave like value traders. Therefore, RL traders without bubble experience amplify bubbles, whereas RL traders with bubble experience tend to suppress and sometimes prevent them. This finding suggests that learning from experience is a mechanism for a boom and bust cycle where the experience of a collapsing bubble makes future bubbles less likely for a period of time until the memory fades and bubbles become more likely to form again.

Human behavior simulation of AI agents necessitates the agents to possess a quality of believability, which is crucial as it facilitates users in establishing trust toward the agents and streamlines the fulfillment of the agents' goal. While recent advancements in Large Language Model (LLM) based agents have improved human behavior simulation, challenges inherent to LLMs (e.g., long context modeling) can undermine their believability. Consequently, evaluating AI agent believability becomes imperative. Unfortunately, prior research often neglects the negative impacts of LLM deficiencies. To address these gaps, we introduce two metrics for assessing LLM-based agent believability: consistency, and robustness, together with a benchmark, SimulateBench, with which, we evaluate the consistency and robustness of agents implemented with popular LLMs. We find that agents (i) struggle to accurately depict character information when presented with lengthy profile inputs; (ii) exhibit vulnerability to profile perturbations; and (iii) are significantly affected by certain key factors that impact their overall believability. Code and SimulateBench are public at https://github.com/GAIR-NLP/GPTMan.

We study a problem of designing replication-proof bandit mechanisms when agents strategically register or replicate their own arms to maximize their payoff. We consider Bayesian agents who are unaware of ex-post realization of their own arms' mean rewards, which is the first to study Bayesian extension of Shin et al. (2022). This extension presents significant challenges in analyzing equilibrium, in contrast to the fully-informed setting by Shin et al. (2022) under which the problem simply reduces to a case where each agent only has a single arm. With Bayesian agents, even in a single-agent setting, analyzing the replication-proofness of an algorithm becomes complicated. Remarkably, we first show that the algorithm proposed by Shin et al. (2022), defined H-UCB, is no longer replication-proof for any exploration parameters. Then, we provide sufficient and necessary conditions for an algorithm to be replication-proof in the single-agent setting. These results centers around several analytical results in comparing the expected regret of multiple bandit instances, which might be of independent interest. We further prove that exploration-then-commit (ETC) algorithm satisfies these properties, whereas UCB does not, which in fact leads to the failure of being replication-proof. We expand this result to multi-agent setting, and provide a replication-proof algorithm for any problem instance. The proof mainly relies on the single-agent result, as well as some structural properties of ETC and the novel introduction of a restarting round, which largely simplifies the analysis while maintaining the regret unchanged (up to polylogarithmic factor). We finalize our result by proving its sublinear regret upper bound, which matches that of H-UCB.

We study a ubiquitous learning challenge in online principal-agent problems during which the principal learns the agent's private information from the agent's revealed preferences in historical interactions. This paradigm includes important special cases such as pricing and contract design, which have been widely studied in recent literature. However, existing work considers the case where the principal can only choose a single strategy at every round to interact with the agent and then observe the agent's revealed preference through their actions. In this paper, we extend this line of study to allow the principal to offer a menu of strategies to the agent and learn additionally from observing the agent's selection from the menu. We provide a thorough investigation of several online principal-agent problem settings and characterize their sample complexities, accompanied by the corresponding algorithms we have developed. We instantiate this paradigm to several important design problems $-$ including Stackelberg (security) games, contract design, and information design. Finally, we also explore the connection between our findings and existing results about online learning in Stackelberg games, and we offer a solution that can overcome a key hard instance of Peng et al. (2019).

Offline Multi-agent Reinforcement Learning (MARL) is valuable in scenarios where online interaction is impractical or risky. While independent learning in MARL offers flexibility and scalability, accurately assigning credit to individual agents in offline settings poses challenges because interactions with an environment are prohibited. In this paper, we propose a new framework, namely Multi-Agent Causal Credit Assignment (MACCA), to address credit assignment in the offline MARL setting. Our approach, MACCA, characterizing the generative process as a Dynamic Bayesian Network, captures relationships between environmental variables, states, actions, and rewards. Estimating this model on offline data, MACCA can learn each agent's contribution by analyzing the causal relationship of their individual rewards, ensuring accurate and interpretable credit assignment. Additionally, the modularity of our approach allows it to seamlessly integrate with various offline MARL methods. Theoretically, we proved that under the setting of the offline dataset, the underlying causal structure and the function for generating the individual rewards of agents are identifiable, which laid the foundation for the correctness of our modeling. In our experiments, we demonstrate that MACCA not only outperforms state-of-the-art methods but also enhances performance when integrated with other backbones.

This paper aims to enable multi-agent systems to effectively utilize past memories to adapt to novel collaborative tasks in a data-efficient fashion. We propose the Multi-Agent Coordination Skill Database, a repository for storing a collection of coordinated behaviors associated with key vectors distinctive to them. Our Transformer-based skill encoder effectively captures spatio-temporal interactions that contribute to coordination and provides a unique skill representation for each coordinated behavior. By leveraging a small number of demonstrations of the target task, the database enables us to train the policy using a dataset augmented with the retrieved demonstrations. Experimental evaluations demonstrate that our method achieves a significantly higher success rate in push manipulation tasks compared with baseline methods like few-shot imitation learning. Furthermore, we validate the effectiveness of our retrieve-and-learn framework in a real environment using a team of wheeled robots.

The necessity for cooperation among intelligent machines has popularised cooperative multi-agent reinforcement learning (MARL) in AI research. However, many research endeavours heavily rely on parameter sharing among agents, which confines them to only homogeneous-agent setting and leads to training instability and lack of convergence guarantees. To achieve effective cooperation in the general heterogeneous-agent setting, we propose Heterogeneous-Agent Reinforcement Learning (HARL) algorithms that resolve the aforementioned issues. Central to our findings are the multi-agent advantage decomposition lemma and the sequential update scheme . Based on these, we develop the provably correct Heterogeneous-Agent Trust Region Learning (HATRL), and derive HATRPO and HAPPO by tractable approximations. Furthermore, we discover a novel framework named Heterogeneous-Agent Mirror Learning (HAML), which strengthens theoretical guarantees for HATRPO and HAPPO and provides a general template for cooperative MARL algorithmic designs. We prove that all algorithms derived from HAML inherently enjoy monotonic improvement of joint return and convergence to Nash Equilibrium. As its natural outcome, HAML validates more novel algorithms in addition to HATRPO and HAPPO, including HAA2C, HADDPG, and HATD3, which generally outperform their existing MAcounterparts. We comprehensively test HARL algorithms on six challenging benchmarks and demonstrate their superior effectiveness and stability for coordinating heterogeneous agents compared to strong baselines such as MAPPO and QMIX.

The vision of AI collaborators is a staple of mythology and science fiction, where artificial agents with special talents assist human partners and teams. In this dream, sophisticated AIs understand nuances of collaboration and human communication. The AI as collaborator dream is different from computer tools that augment human intelligence (IA) or intermediate human collaboration. Such tools have their roots in the 1960s and helped to drive an information technology revolution. They can be useful but they are not intelligent and do not collaborate as effectively as skilled people. With the increase of hybrid and remote work since the COVID pandemic, the benefits and requirements for better coordination, collaboration, and communication are becoming a hot topic in the workplace. Employers and workers face choices and trade-offs as they negotiate the options for working from home versus working at the office. Many factors such as the high costs of homes near employers are impeding a mass return to the office. Government advisory groups and leaders in AI have advocated for years that AIs should be transparent and effective collaborators. Nonetheless, robust AIs that collaborate like talented people remain out of reach. Are AI teammates part of a solution? How artificially intelligent (AI) could and should they be? This position paper reviews the arc of technology and public calls for human-machine teaming. It draws on earlier research in psychology and the social sciences about what human-like collaboration requires. This paper sets a context for a second science-driven paper that advocates a radical shift in technology and methodology for creating resilient, intelligent, and human-compatible AIs (Stefik & Price, 2023). The aspirational goal is that such AIs would learn, share what they learn, and collaborate to achieve high capabilities.