The large language model (LLM) based agents have demonstrated their capacity to automate and expedite software development processes. In this paper, we focus on game development and propose a multi-agent collaborative framework, dubbed GameGPT, to automate game development. While many studies have pinpointed hallucination as a primary roadblock for deploying LLMs in production, we identify another concern: redundancy. Our framework presents a series of methods to mitigate both concerns. These methods include dual collaboration and layered approaches with several in-house lexicons, to mitigate the hallucination and redundancy in the planning, task identification, and implementation phases. Furthermore, a decoupling approach is also introduced to achieve code generation with better precision.

To leverage data for the sufficient training of machine learning (ML) models from multiple parties in a confidentiality-preserving way, various collaborative distributed ML (CDML) system designs have been developed, for example, to perform assisted learning, federated learning, and split learning. CDML system designs show different traits, including high agent autonomy, ML model confidentiality, and fault tolerance. Facing a wide variety of CDML system designs with different traits, it is difficult for developers to design CDML systems with traits that match use case requirements in a targeted way. However, inappropriate CDML system designs may result in CDML systems failing their envisioned purposes. We developed a CDML design toolbox that can guide the development of CDML systems. Based on the CDML design toolbox, we present CDML system archetypes with distinct key traits that can support the design of CDML systems to meet use case requirements.

Safe Reinforcement Learning (RL) aims to find a policy that achieves high rewards while satisfying cost constraints. When learning from scratch, safe RL agents tend to be overly conservative, which impedes exploration and restrains the overall performance. In many realistic tasks, e.g. autonomous driving, large-scale expert demonstration data are available. We argue that extracting expert policy from offline data to guide online exploration is a promising solution to mitigate the conserveness issue. Large-capacity models, e.g. decision transformers (DT), have been proven to be competent in offline policy learning. However, data collected in real-world scenarios rarely contain dangerous cases (e.g., collisions), which makes it prohibitive for the policies to learn safety concepts. Besides, these bulk policy networks cannot meet the computation speed requirements at inference time on real-world tasks such as autonomous driving. To this end, we propose Guided Online Distillation (GOLD), an offline-to-online safe RL framework. GOLD distills an offline DT policy into a lightweight policy network through guided online safe RL training, which outperforms both the offline DT policy and online safe RL algorithms. Experiments in both benchmark safe RL tasks and real-world driving tasks based on the Waymo Open Motion Dataset (WOMD) demonstrate that GOLD can successfully distill lightweight policies and solve decision-making problems in challenging safety-critical scenarios.

Autonomous vehicles require motion forecasting of their surrounding multiagents (pedestrians and vehicles) to make optimal decisions for navigation. The existing methods focus on techniques to utilize the positions and velocities of these agents and fail to capture semantic information from the scene. Moreover, to mitigate the increase in computational complexity associated with the number of agents in the scene, some works leverage Euclidean distance to prune far-away agents. However, distance-based metric alone is insufficient to select relevant agents and accurately perform their predictions. To resolve these issues, we propose the Semantics-aware Interactive Multiagent Motion Forecasting (SIMMF) method to capture semantics along with spatial information and optimally select relevant agents for motion prediction. Specifically, we achieve this by implementing a semantic-aware selection of relevant agents from the scene and passing them through an attention mechanism to extract global encodings. These encodings along with agents' local information, are passed through an encoder to obtain time-dependent latent variables for a motion policy predicting the future trajectories. Our results show that the proposed approach outperforms state-of-the-art baselines and provides more accurate and scene-consistent predictions.

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is entirely zero-shot -- i.e., it does not require ObjectNav rewards or demonstrations of any kind. Instead, we train on the image-goal navigation (ImageNav) task, in which agents find the location where a picture (i.e., goal image) was captured. Specifically, we encode goal images into a multimodal, semantic embedding space to enable training semantic-goal navigation (SemanticNav) agents at scale in unannotated 3D environments (e.g., HM3D). After training, SemanticNav agents can be instructed to find objects described in free-form natural language (e.g., "sink", "bathroom sink", etc.) by projecting language goals into the same multimodal, semantic embedding space. As a result, our approach enables open-world ObjectNav. We extensively evaluate our agents on three ObjectNav datasets (Gibson, HM3D, and MP3D) and observe absolute improvements in success of 4.2% - 20.0% over existing zero-shot methods. For reference, these gains are similar or better than the 5% improvement in success between the Habitat 2020 and 2021 ObjectNav challenge winners. In an open-world setting, we discover that our agents can generalize to compound instructions with a room explicitly mentioned (e.g., "Find a kitchen sink") and when the target room can be inferred (e.g., "Find a sink and a stove").

In the context of humans operating with artificial or autonomous agents in a hybrid team, it is essential to accurately identify when to authorize those team members to perform actions. Given past examples where humans and autonomous systems can either succeed or fail at tasks, we seek to train a delegating manager agent to make delegation decisions with respect to these potential performance deficiencies. Additionally, we cannot always expect the various agents to operate within the same underlying model of the environment. It is possible to encounter cases where the actions and transitions would vary between agents. Therefore, our framework provides a manager model which learns through observations of team performance without restricting agents to matching dynamics. Our results show our manager learns to perform delegation decisions with teams of agents operating under differing representations of the environment, significantly outperforming alternative methods to manage the team.

Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. One crucial component of visual SLAM is the Field-of-View (FoV) of the camera, as a larger FoV allows for a wider range of surrounding elements and features to be perceived. However, when the FoV of the camera reaches the negative half-plane, traditional methods for representing image feature points using [u,v,1]^T become ineffective. While the panoramic FoV is advantageous for loop closure, its benefits are not easily realized under large-attitude-angle differences where loop-closure frames cannot be easily matched by existing methods. As loop closure on wide-FoV panoramic data further comes with a large number of outliers, traditional outlier rejection methods are not directly applicable. To address these issues, we propose LF-VISLAM, a Visual Inertial SLAM framework for cameras with extremely Large FoV with loop closure. A three-dimensional vector with unit length is introduced to effectively represent feature points even on the negative half-plane. The attitude information of the SLAM system is leveraged to guide the feature point detection of the loop closure. Additionally, a new outlier rejection method based on the unit length representation is integrated into the loop closure module. We collect the PALVIO dataset using a Panoramic Annular Lens (PAL) system with an entire FoV of 360{\deg}x(40{\deg}~120{\deg}) and an Inertial Measurement Unit (IMU) for Visual Inertial Odometry (VIO) to address the lack of panoramic SLAM datasets. Experiments on the established PALVIO and public datasets show that the proposed LF-VISLAM outperforms state-of-the-art SLAM methods. Our code will be open-sourced at https://github.com/flysoaryun/LF-VISLAM.

This article presents the affordances that Generative Artificial Intelligence can have in disinformation context, one of the major threats to our digitalized society. We present a research framework to generate customized agent-based social networks for disinformation simulations that would enable understanding and evaluation of the phenomena whilst discussing open challenges.

Predicting temporally consistent road users' trajectories in a multi-agent setting is a challenging task due to unknown characteristics of agents and their varying intentions. Besides using semantic map information and modeling interactions, it is important to build an effective mechanism capable of reasoning about behaviors at different levels of granularity. To this end, we propose Dynamic goal quErieS with temporal Transductive alIgNmEnt (DESTINE) method. Unlike past arts, our approach 1) dynamically predicts agents' goals irrespective of particular road structures, such as lanes, allowing the method to produce a more accurate estimation of destinations; 2) achieves map compliant predictions by generating future trajectories in a coarse-to-fine fashion, where the coarser predictions at a lower frame rate serve as intermediate goals; and 3) uses an attention module designed to temporally align predicted trajectories via masked attention. Using the common Argoverse benchmark dataset, we show that our method achieves state-of-the-art performance on various metrics, and further investigate the contributions of proposed modules via comprehensive ablation studies.

Generalization poses a significant challenge in Multi-agent Reinforcement Learning (MARL). The extent to which an agent is influenced by unseen co-players depends on the agent's policy and the specific scenario. A quantitative examination of this relationship sheds light on effectively training agents for diverse scenarios. In this study, we present the Level of Influence (LoI), a metric quantifying the interaction intensity among agents within a given scenario and environment. We observe that, generally, a more diverse set of co-play agents during training enhances the generalization performance of the ego agent; however, this improvement varies across distinct scenarios and environments. LoI proves effective in predicting these improvement disparities within specific scenarios. Furthermore, we introduce a LoI-guided resource allocation method tailored to train a set of policies for diverse scenarios under a constrained budget. Our results demonstrate that strategic resource allocation based on LoI can achieve higher performance than uniform allocation under the same computation budget.