Customizing robotic behaviors to be aligned with diverse human preferences is an underexplored challenge in the field of embodied AI. In this paper, we present Promptable Behaviors, a novel framework that facilitates efficient personalization of robotic agents to diverse human preferences in complex environments. We use multi-objective reinforcement learning to train a single policy adaptable to a broad spectrum of preferences. We introduce three distinct methods to infer human preferences by leveraging different types of interactions: (1) human demonstrations, (2) preference feedback on trajectory comparisons, and (3) language instructions. We evaluate the proposed method in personalized object-goal navigation and flee navigation tasks in ProcTHOR and RoboTHOR, demonstrating the ability to prompt agent behaviors to satisfy human preferences in various scenarios. Project page: https://promptable-behaviors.github.io

We study vehicle dispatching in autonomous mobility on demand (AMoD) systems, where a central operator assigns vehicles to customer requests or rejects these with the aim of maximizing its total profit. Recent approaches use multi-agent deep reinforcement learning (MADRL) to realize scalable yet performant algorithms, but train agents based on local rewards, which distorts the reward signal with respect to the system-wide profit, leading to lower performance. We therefore propose a novel global-rewards-based MADRL algorithm for vehicle dispatching in AMoD systems, which resolves so far existing goal conflicts between the trained agents and the operator by assigning rewards to agents leveraging a counterfactual baseline. Our algorithm shows statistically significant improvements across various settings on real-world data compared to state-of-the-art MADRL algorithms with local rewards. We further provide a structural analysis which shows that the utilization of global rewards can improve implicit vehicle balancing and demand forecasting abilities.

The alignment of autonomous agents with human values is a pivotal challenge when deploying these agents within physical environments, where safety is an important concern. However, defining the agent's objective as a reward and/or cost function is inherently complex and prone to human errors. In response to this challenge, we present a novel approach that leverages one-class decision trees to facilitate learning from expert demonstrations. These decision trees provide a foundation for representing a set of constraints pertinent to the given environment as a logical formula in disjunctive normal form. The learned constraints are subsequently employed within an oracle constrained reinforcement learning framework, enabling the acquisition of a safe policy. In contrast to other methods, our approach offers an interpretable representation of the constraints, a vital feature in safety-critical environments. To validate the effectiveness of our proposed method, we conduct experiments in synthetic benchmark domains and a realistic driving environment.

In real-world environments, autonomous agents rely on their egocentric observations. They must learn adaptive strategies to interact with others who possess mixed motivations, discernible only through visible cues. Several Multi-Agent Reinforcement Learning (MARL) methods adopt centralized approaches that involve either centralized training or reward-sharing, often violating the realistic ways in which living organisms, like animals or humans, process information and interact. MARL strategies deploying decentralized training with intrinsic motivation offer a self-supervised approach, enable agents to develop flexible social strategies through the interaction of autonomous agents. However, by contrasting the self-supervised and centralized methods, we reveal that populations trained with reward-sharing methods surpass those using self-supervised methods in a mixed-motive environment. We link this superiority to specialized role emergence and an agent's expertise in its role. Interestingly, this gap shrinks in pure-motive settings, emphasizing the need for evaluations in more complex, realistic environments (mixed-motive). Our preliminary results suggest a gap in population performance that can be closed by improving self-supervised methods and thereby pushing MARL closer to real-world readiness.

Computer simulations offer a robust toolset for exploring complex systems across various disciplines. A particularly impactful approach within this realm is Agent-Based Modeling (ABM), which harnesses the interactions of individual agents to emulate intricate system dynamics. ABM's strength lies in its bottom-up methodology, illuminating emergent phenomena by modeling the behaviors of individual components of a system. Yet, ABM has its own set of challenges, notably its struggle with modeling natural language instructions and common sense in mathematical equations or rules. This paper seeks to transcend these boundaries by integrating Large Language Models (LLMs) like GPT into ABM. This amalgamation gives birth to a novel framework, Smart Agent-Based Modeling (SABM). Building upon the concept of smart agents -- entities characterized by their intelligence, adaptability, and computation ability -- we explore in the direction of utilizing LLM-powered agents to simulate real-world scenarios with increased nuance and realism. In this comprehensive exploration, we elucidate the state of the art of ABM, introduce SABM's potential and methodology, and present three case studies (source codes available at https://github.com/Roihn/SABM), demonstrating the SABM methodology and validating its effectiveness in modeling real-world systems. Furthermore, we cast a vision towards several aspects of the future of SABM, anticipating a broader horizon for its applications. Through this endeavor, we aspire to redefine the boundaries of computer simulations, enabling a more profound understanding of complex systems.

This report considers the problem of resilient distributed optimization and stochastic learning in a server-based architecture. The system comprises a server and multiple agents, where each agent has its own local cost function. The agents collaborate with the server to find a minimum of the aggregate of the local cost functions. In the context of stochastic learning, the local cost of an agent is the loss function computed over the data at that agent. In this report, we consider this problem in a system wherein some of the agents may be Byzantine faulty and some of the agents may be slow (also called stragglers). In this setting, we investigate the conditions under which it is possible to obtain an "approximate" solution to the above problem. In particular, we introduce the notion of $(f, r; \epsilon)$-resilience to characterize how well the true solution is approximated in the presence of up to $f$ Byzantine faulty agents, and up to $r$ slow agents (or stragglers) -- smaller $\epsilon$ represents a better approximation. We also introduce a measure named $(f, r; \epsilon)$-redundancy to characterize the redundancy in the cost functions of the agents. Greater redundancy allows for a better approximation when solving the problem of aggregate cost minimization. In this report, we constructively show (both theoretically and empirically) that $(f, r; \mathcal{O}(\epsilon))$-resilience can indeed be achieved in practice, given that the local cost functions are sufficiently redundant.

This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and the solutions represent the robot motions required to resolve these conflicts. The use of subproblems enables an inexpensive hybrid exploration of the multi-robot planning space. ARC leverages the hybrid exploration by dynamically adjusting the coupling and decoupling of the multi-robot planning space. This allows ARC to adapt the levels of coordination efficiently by planning in decoupled spaces, where robots can operate independently, and in coupled spaces where coordination is essential. ARC is probabilistically complete, can be used for any robot, and produces efficient cost solutions in reduced planning times. Through extensive evaluation across representative scenarios with different robots requiring various levels of coordination, ARC demonstrates its ability to provide simultaneous scalability and precise coordination. ARC is the only method capable of solving all the scenarios and is competitive with coupled, decoupled, and hybrid baselines.

Cooperative multi-agent reinforcement learning (MARL) has made substantial strides in addressing the distributed decision-making challenges. However, as multi-agent systems grow in complexity, gaining a comprehensive understanding of their behaviour becomes increasingly challenging. Conventionally, tracking team rewards over time has served as a pragmatic measure to gauge the effectiveness of agents in learning optimal policies. Nevertheless, we argue that relying solely on the empirical returns may obscure crucial insights into agent behaviour. In this paper, we explore the application of explainable AI (XAI) tools to gain profound insights into agent behaviour. We employ these diagnostics tools within the context of Level-Based Foraging and Multi-Robot Warehouse environments and apply them to a diverse array of MARL algorithms. We demonstrate how our diagnostics can enhance the interpretability and explainability of MARL systems, providing a better understanding of agent behaviour.

The importance of effective detection is underscored by the fact that socialbots imitate human behavior to propagate misinformation, leading to an ongoing competition between socialbots and detectors. Despite the rapid advancement of reactive detectors, the exploration of adversarial socialbot modeling remains incomplete, significantly hindering the development of proactive detectors. To address this issue, we propose a mathematical Structural Information principles-based Adversarial Socialbots Modeling framework, namely SIASM, to enable more accurate and effective modeling of adversarial behaviors. First, a heterogeneous graph is presented to integrate various users and rich activities in the original social network and measure its dynamic uncertainty as structural entropy. By minimizing the high-dimensional structural entropy, a hierarchical community structure of the social network is generated and referred to as the optimal encoding tree. Secondly, a novel method is designed to quantify influence by utilizing the assigned structural entropy, which helps reduce the computational cost of SIASM by filtering out uninfluential users. Besides, a new conditional structural entropy is defined between the socialbot and other users to guide the follower selection for network influence maximization. Extensive and comparative experiments on both homogeneous and heterogeneous social networks demonstrate that, compared with state-of-the-art baselines, the proposed SIASM framework yields substantial performance improvements in terms of network influence (up to 16.32%) and sustainable stealthiness (up to 16.29%) when evaluated against a robust detector with 90% accuracy.

We consider decentralized learning for zero-sum games, where players only see their payoff information and are agnostic to actions and payoffs of the opponent. Previous works demonstrated convergence to a Nash equilibrium in this setting using double time-scale algorithms under strong reachability assumptions. We address the open problem of achieving an approximate Nash equilibrium efficiently with an uncoupled and single time-scale algorithm under weaker conditions. Our contribution is a rational and convergent algorithm, utilizing Tsallis-entropy regularization in a value-iteration-based approach. The algorithm learns an approximate Nash equilibrium in polynomial time, requiring only the existence of a policy pair that induces an irreducible and aperiodic Markov chain, thus considerably weakening past assumptions. Our analysis leverages negative drift inequalities and introduces novel properties of Tsallis entropy that are of independent interest.