We study the problem of building a controller that can follow open-ended instructions in open-world environments. We propose to follow reference videos as instructions, which offer expressive goal specifications while eliminating the need for expensive text-gameplay annotations. A new learning framework is derived to allow learning such instruction-following controllers from gameplay videos while producing a video instruction encoder that induces a structured goal space. We implement our agent GROOT in a simple yet effective encoder-decoder architecture based on causal transformers. We evaluate GROOT against open-world counterparts and human players on a proposed Minecraft SkillForge benchmark. The Elo ratings clearly show that GROOT is closing the human-machine gap as well as exhibiting a 70% winning rate over the best generalist agent baseline. Qualitative analysis of the induced goal space further demonstrates some interesting emergent properties, including the goal composition and complex gameplay behavior synthesis. The project page is available at https://craftjarvis-groot.github.io.

Autonomous Vehicles (AVs) promise a range of societal advantages, including broader access to mobility, reduced road accidents, and enhanced transportation efficiency. However, evaluating the risks linked to AVs is complex due to limited historical data and the swift progression of technology. This paper presents a data-driven framework for assessing the risk of different AVs' behaviors in various operational design domains (ODDs), based on counterfactual simulations of "misbehaving" road users. We propose the notion of counterfactual safety margin, which represents the minimum deviation from nominal behavior that could cause a collision. This methodology not only pinpoints the most critical scenarios but also quantifies the (relative) risk's frequency and severity concerning AVs. Importantly, we show that our approach is applicable even when the AV's behavioral policy remains undisclosed, through worst- and best-case analyses, benefiting external entities like regulators and risk evaluators. Our experimental outcomes demonstrate the correlation between the safety margin, the quality of the driving policy, and the ODD, shedding light on the relative risks of different AV providers. Overall, this work contributes to the safety assessment of AVs and addresses legislative and insurance concerns surrounding this burgeoning technology.

We introduce and study pawn games, a class of two-player zero-sum turn-based graph games. A turn-based graph game proceeds by placing a token on an initial vertex, and whoever controls the vertex on which the token is located, chooses its next location. This leads to a path in the graph, which determines the winner. Traditionally, the control of vertices is predetermined and fixed. The novelty of pawn games is that control of vertices changes dynamically throughout the game as follows. Each vertex of a pawn game is owned by a pawn. In each turn, the pawns are partitioned between the two players, and the player who controls the pawn that owns the vertex on which the token is located, chooses the next location of the token. Control of pawns changes dynamically throughout the game according to a fixed mechanism. Specifically, we define several grabbing-based mechanisms in which control of at most one pawn transfers at the end of each turn. We study the complexity of solving pawn games, where we focus on reachability objectives and parameterize the problem by the mechanism that is being used and by restrictions on pawn ownership of vertices. On the positive side, even though pawn games are exponentially-succinct turn-based games, we identify several natural classes that can be solved in PTIME. On the negative side, we identify several EXPTIME-complete classes, where our hardness proofs are based on a new class of games called Lock & Key games, which may be of independent interest.

Protecting against adversarial attacks is a common multiagent problem. Attackers in the real world are predominantly human actors, and the protection methods often incorporate opponent models to improve the performance when facing humans. Previous results show that modeling human behavior can significantly improve the performance of the algorithms. However, modeling humans correctly is a complex problem, and the models are often simplified and assume humans make mistakes according to some distribution or train parameters for the whole population from which they sample. In this work, we use data gathered by psychologists who identified personality types that increase the likelihood of performing malicious acts. However, in the previous work, the tests on a handmade game could not show strategic differences between the models. We created a novel model that links its parameters to psychological traits. We optimized over parametrized games and created games in which the differences are profound. Our work can help with automatic game generation when we need a game in which some models will behave differently and to identify situations in which the models do not align.

Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using reinforcement learning based approaches. Therefore, we do not yet have an in-depth analysis of how these models would behave in the real world. In this work, we propose a new solution to integrate VSN models into real robots, so that we have true embodied agents. We also release a novel ROS-based framework for VSN, ROS4VSN, so that any VSN-model can be easily deployed in any ROS-compatible robot and tested in a real setting. Our experiments with two different robots, where we have embedded two state-of-the-art VSN agents, confirm that there is a noticeable performance difference of these VSN solutions when tested in real-world and simulation environments. We hope that this research will endeavor to provide a foundation for addressing this consequential issue, with the ultimate aim of advancing the performance and efficiency of embodied agents within authentic real-world scenarios. Code to reproduce all our experiments can be found at https://github.com/gramuah/ros4vsn.

Improvements in tracking technology through optical and computer vision systems have enabled a greater understanding of the movement-based behaviour of multiple agents, including in team sports. In this study, a Multi-Agent Statistically Discriminative Sub-Trajectory Mining (MA-Stat-DSM) method is proposed that takes a set of binary-labelled agent trajectory matrices as input and incorporates Hausdorff distance to identify sub-matrices that statistically significantly discriminate between the two groups of labelled trajectory matrices. Utilizing 2015/16 SportVU NBA tracking data, agent trajectory matrices representing attacks consisting of the trajectories of five agents (the ball, shooter, last passer, shooter defender, and last passer defender), were truncated to correspond to the time interval following the receipt of the ball by the last passer, and labelled as effective or ineffective based on a definition of attack effectiveness that we devise in the current study. After identifying appropriate parameters for MA-Stat-DSM by iteratively applying it to all matches involving the two top- and two bottom-placed teams from the 2015/16 NBA season, the method was then applied to selected matches and could identify and visualize the portions of plays, e.g., involving passing, on-, and/or off-the-ball movements, which were most relevant in rendering attacks effective or ineffective.

From their inception, quaternions and their division algebra have proven to be advantageous in modelling rotation/orientation in three-dimensional spaces and have seen use from the initial formulation of electromagnetic filed theory through to forming the basis of quantum filed theory. Despite their impressive versatility in modelling real-world phenomena, adaptive information processing techniques specifically designed for quaternion-valued signals have only recently come to the attention of the machine learning, signal processing, and control communities. The most important development in this direction is introduction of the HR-calculus, which provides the required mathematical foundation for deriving adaptive information processing techniques directly in the quaternion domain. In this article, the foundations of the HR-calculus are revised and the required tools for deriving adaptive learning techniques suitable for dealing with quaternion-valued signals, such as the gradient operator, chain and product derivative rules, and Taylor series expansion are presented. This serves to establish the most important applications of adaptive information processing in the quaternion domain for both single-node and multi-node formulations. The article is supported by Supplementary Material, which will be referred to as SM.

Asteroid restructuring uses robotics, self replication, and mechanical automatons to autonomously restructure an asteroid into a large rotating space station. The restructuring process makes structures from asteroid oxide materials; uses productive self-replication to make replicators, helpers, and products; and creates a multiple floor station to support a large population. In an example simulation, it takes 12 years to autonomously restructure a large asteroid into the space station. This is accomplished with a single rocket launch. The single payload contains a base station, 4 robots (spiders), and a modest set of supplies. Our simulation creates 3000 spiders and over 23,500 other pieces of equipment. Only the base station and spiders (replicators) have advanced microprocessors and algorithms. These represent 21st century technologies created and trans-ported from Earth. The equipment and tools are built using in-situ materials and represent 18th or 19th century technologies. The equipment and tools (helpers) have simple mechanical programs to perform repetitive tasks. The resulting example station would be a rotating framework almost 5 kilometers in diameter. Once completed, it could support a population of over 700,000 people. Many researchers identify the high launch costs, the harsh space environment, and the lack of gravity as the key obstacles hindering the development of space stations. The single probe addresses the high launch cost. The autonomous construction eliminates the harsh space environment for construction crews. The completed rotating station provides radiation protection and centripetal gravity for the first work crews and colonists.

This paper proposes a multiagent based bi-level operation framework for the low-carbon demand management in distribution networks considering the carbon emission allowance on the demand side. In the upper level, the aggregate load agents optimize the control signals for various types of loads to maximize the profits; in the lower level, the distribution network operator makes optimal dispatching decisions to minimize the operational costs and calculates the distribution locational marginal price and carbon intensity. The distributed flexible load agent has only incomplete information of the distribution network and cooperates with other agents using networked communication. Finally, the problem is formulated into a networked multi-agent constrained Markov decision process, which is solved using a safe reinforcement learning algorithm called consensus multi-agent constrained policy optimization considering the carbon emission allowance for each agent. Case studies with the IEEE 33-bus and 123-bus distribution network systems demonstrate the effectiveness of the proposed approach, in terms of satisfying the carbon emission constraint on demand side, ensuring the safe operation of the distribution network and preserving privacy of both sides.

Large language models (LLMs) have been widely recognised as transformative artificial generative intelligence (AGI) technologies due to their capabilities to understand and generate content, including plans with reasoning capabilities. Foundation model based agents derive their autonomy from the capabilities of foundation models, which enable them to autonomously break down a given goal into a set of manageable tasks and orchestrate task execution to meet the goal. Despite the huge efforts put into building foundation model based autonomous agents, the architecture design of the agents has not yet been systematically explored. Also, while there are significant benefits of using autonomous agents for planning and execution, there are serious considerations regarding responsible AI related software quality attributes, such as security and accountability. Therefore, this paper presents a pattern-oriented reference architecture that serves as architecture design guidance and enables responsible-AI-by-design when designing foundation model based autonomous agents. We evaluate the completeness and utility of the proposed reference architecture by mapping it to the architecture of two real-world agents.