This paper studies a class of strongly monotone games involving non-cooperative agents that optimize their own time-varying cost functions. We assume that the agents can observe other agents' historical actions and choose actions that best respond to other agents' previous actions; we call this a best response scheme. We start by analyzing the convergence rate of this best response scheme for standard time-invariant games. Specifically, we provide a sufficient condition on the strong monotonicity parameter of the time-invariant games under which the proposed best response algorithm achieves exponential convergence to the static Nash equilibrium. We further illustrate that this best response algorithm may oscillate when the proposed sufficient condition fails to hold, which indicates that this condition is tight. Next, we analyze this best response algorithm for time-varying games where the cost functions of each agent change over time. Under similar conditions as for time-invariant games, we show that the proposed best response algorithm stays asymptotically close to the evolving equilibrium. We do so by analyzing both the equilibrium tracking error and the dynamic regret. Numerical experiments on economic market problems are presented to validate our analysis.

Can social power endow social robots with the capacity to persuade? This paper represents our recent endeavor to design persuasive social robots. We have designed and run three different user studies to investigate the effectiveness of different bases of social power (inspired by French and Raven's theory) on peoples' compliance to the requests of social robots. The results show that robotic persuaders that exert social power (specifically from expert, reward, and coercion bases) demonstrate increased ability to influence humans. The first study provides a positive answer and shows that under the same circumstances, people with different personalities prefer robots using a specific social power base. In addition, social rewards can be useful in persuading individuals. The second study suggests that by employing social power, social robots are capable of persuading people objectively to select a less desirable choice among others. Finally, the third study shows that the effect of power on persuasion does not decay over time and might strengthen under specific circumstances. Moreover, exerting stronger social power does not necessarily lead to higher persuasion. Overall, we argue that the results of these studies are relevant for designing human--robot-interaction scenarios especially the ones aiming at behavioral change.

We consider the problem of optimal unsignalized intersection management for continual streams of randomly arriving robots. This problem involves repeatedly solving different instances of a mixed integer program, for which the computation time using a naive optimization algorithm scales exponentially with the number of robots and lanes. Hence, such an approach is not suitable for real-time implementation. In this paper, we propose a solution framework that combines learning and sequential optimization. In particular, we propose an algorithm for learning a shared policy that given the traffic state information, determines the crossing order of the robots. Then, we optimize the trajectories of the robots sequentially according to that crossing order. This approach inherently guarantees safety at all times. We validate the performance of this approach using extensive simulations. Our approach, on average, significantly outperforms the heuristics from the literature. We also show through simulations that the computation time for our approach scales linearly with the number of robots. We further implement the learnt policies on physical robots with a few modifications to the solution framework to address real-world challenges and establish its real-time implementability.

We study how to learn $\epsilon$-optimal strategies in zero-sum imperfect information games (IIG) with trajectory feedback. In this setting, players update their policies sequentially based on their observations over a fixed number of episodes, denoted by $T$. Existing procedures suffer from high variance due to the use of importance sampling over sequences of actions (Steinberger et al., 2020; McAleer et al., 2022). To reduce this variance, we consider a fixed sampling approach, where players still update their policies over time, but with observations obtained through a given fixed sampling policy. Our approach is based on an adaptive Online Mirror Descent (OMD) algorithm that applies OMD locally to each information set, using individually decreasing learning rates and a regularized loss. We show that this approach guarantees a convergence rate of $\tilde{\mathcal{O}}(T^{-1/2})$ with high probability and has a near-optimal dependence on the game parameters when applied with the best theoretical choices of learning rates and sampling policies. To achieve these results, we generalize the notion of OMD stabilization, allowing for time-varying regularization with convex increments.

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have limitations in exploiting the map and exhibit a strong dependence on historical trajectories, which yield unsatisfactory prediction performance and robustness. Additionally, their heavy network architectures impede real-time applications. To tackle these problems, we propose Map-Agent Coupled Transformer (MacFormer) for real-time and robust trajectory prediction. Our framework explicitly incorporates map constraints into the network via two carefully designed modules named coupled map and reference extractor. A novel multi-task optimization strategy (MTOS) is presented to enhance learning of topology and rule constraints. We also devise bilateral query scheme in context fusion for a more efficient and lightweight network. We evaluated our approach on Argoverse 1, Argoverse 2, and nuScenes real-world benchmarks, where it all achieved state-of-the-art performance with the lowest inference latency and smallest model size. Experiments also demonstrate that our framework is resilient to imperfect tracklet inputs. Furthermore, we show that by combining with our proposed strategies, classical models outperform their baselines, further validating the versatility of our framework.

In this work, we study the problem of semantic communication and inference, in which a student agent (i.e. mobile device) queries a teacher agent (i.e. cloud sever) to generate higher-order data semantics living in a simplicial complex. Specifically, the teacher first maps its data into a k-order simplicial complex and learns its high-order correlations. For effective communication and inference, the teacher seeks minimally sufficient and invariant semantic structures prior to conveying information. These minimal simplicial structures are found via judiciously removing simplices selected by the Hodge Laplacians without compromising the inference query accuracy. Subsequently, the student locally runs its own set of queries based on a masked simplicial convolutional autoencoder (SCAE) leveraging both local and remote teacher's knowledge. Numerical results corroborate the effectiveness of the proposed approach in terms of improving inference query accuracy under different channel conditions and simplicial structures. Experiments on a coauthorship dataset show that removing simplices by ranking the Laplacian values yields a 85% reduction in payload size without sacrificing accuracy. Joint semantic communication and inference by masked SCAE improves query accuracy by 25% compared to local student based query and 15% compared to remote teacher based query. Finally, incorporating channel semantics is shown to effectively improve inference accuracy, notably at low SNR values.

In this paper, we are concerned with the automated exchange of orders between logistics companies in a marketplace platform to optimize total revenues. We introduce a novel multi-agent approach to this problem, focusing on the Collaborative Vehicle Routing Problem (CVRP) through the lens of individual rationality. Our proposed algorithm applies the principles of Vehicle Routing Problem (VRP) to pairs of vehicles from different logistics companies, optimizing the overall routes while considering standard VRP constraints plus individual rationality constraints. By facilitating cooperation among competing logistics agents through a Give-and-Take approach, we show that it is possible to reduce travel distance and increase operational efficiency system-wide. More importantly, our approach ensures individual rationality and faster convergence, which are important properties of ensuring the long-term sustainability of the marketplace platform. We demonstrate the efficacy of our approach through extensive experiments using real-world test data from major logistics companies. The results reveal our algorithm's ability to rapidly identify numerous optimal solutions, underscoring its practical applicability and potential to transform the logistics industry.

Trading off performance guarantees in favor of scalability, the Multi-Agent Path Finding (MAPF) community has recently started to embrace Multi-Agent Reinforcement Learning (MARL), where agents learn to collaboratively generate individual, collision-free (but often suboptimal) paths. Scalability is usually achieved by assuming a local field of view (FOV) around the agents, helping scale to arbitrary world sizes. However, this assumption significantly limits the amount of information available to the agents, making it difficult for them to enact the type of joint maneuvers needed in denser MAPF tasks. In this paper, we propose SCRIMP, where agents learn individual policies from even very small (down to 3x3) FOVs, by relying on a highly-scalable global/local communication mechanism based on a modified transformer. We further equip agents with a state-value-based tie-breaking strategy to further improve performance in symmetric situations, and introduce intrinsic rewards to encourage exploration while mitigating the long-term credit assignment problem. Empirical evaluations on a set of experiments indicate that SCRIMP can achieve higher performance with improved scalability compared to other state-of-the-art learning-based MAPF planners with larger FOVs, and even yields similar performance as a classical centralized planner in many cases. Ablation studies further validate the effectiveness of our proposed techniques. Finally, we show that our trained model can be directly implemented on real robots for online MAPF through high-fidelity simulations in gazebo.

This paper presents a framework for enforcing penalties on intelligent agents that do not comply with authorization or obligation policies in a changing environment. A framework is proposed to represent and reason about penalties in plans, and an algorithm is proposed to penalize an agent's actions based on their level of compliance with respect to authorization and obligation policies. Being aware of penalties an agent can choose a plan with a minimal total penalty, unless there is an emergency goal like saving a human's life. The paper concludes that this framework can reprimand insubordinate agents.

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical state and latent intent uncertainty. In this paper, we transform this intractable problem into a supervised learning problem, where a fully-observable robot policy generates supervision for a partially-observable one. We find that the quality of the supervision signal for the partially-observable pursuer policy depends on two key factors: the balance of diversity and optimality of the evader's behavior and the strength of the modeling assumptions in the fully-observable policy. We deploy our policy on a physical quadruped robot with an RGB-D camera on pursuit-evasion interactions in the wild. Despite all the challenges, the sensing constraints bring about creativity: the robot is pushed to gather information when uncertain, predict intent from noisy measurements, and anticipate in order to intercept. Project webpage: https://abajcsy.github.io/vision-based-pursuit/