This report outlines the concepts, mechanisms and inner dynamics of the BEAM (Behavior, Energy, Autonomy, and Mobility) modeling framework. BEAM is an open-source large-scale high-resolution transportation model that harnesses the principles of the actor model of computation to build a powerful and efficient agent-based model of travel behavior. It allows a detailed microscopic view of how people make travel choices and interact with the transportation system, enabling more accurate simulations of human mobility and urban transport networks. It also allows the analysis of numerous spatially defined but interacting layers, and integrates them into a cohesive representation of a regional transportation system. This integrated picture provides invaluable insights to policy makers and other stakeholders about how changes to the transportation system result in changes to traffic congestion, mode share, energy use, and emissions throughout a modeled region. These capabilities are demonstrated with a case study of New York City that showcase BEAM's application in a very large and intricate urban transportation system, without relying on existing travel demand models. The unique ability of BEAM to simulate individual behaviors, integrate with other models, and adapt to different real-world scenarios underscores its importance in the rapidly evolving field of transportation and emphasizes its potential as a valuable proof-of-concept tool to contribute to more informed and effective policy and planning decisions.

Text-adventure games and text role-playing games are grand challenges for reinforcement learning game playing agents. Text role-playing games are open-ended environments where an agent must faithfully play a particular character. We consider the distinction between characters and actors, where an actor agent has the ability to play multiple characters. We present a framework we call a thespian agent that can learn to emulate multiple characters along with a soft prompt that can be used to direct it as to which character to play at any time. We further describe an attention mechanism that allows the agent to learn new characters that are based on previously learned characters in a few-shot fashion. We show that our agent outperforms the state of the art agent framework in multi-character learning and few-shot learning.

Quadruped robots have the distinct ability to adapt their body and step height to navigate through cluttered environments. Nonetheless, for these robots to utilize their full potential in real-world scenarios, they require awareness of their environment and obstacle geometry. We propose a novel multi-agent robotic system that incorporates cutting-edge technologies. The proposed solution features a 3D neural reconstruction algorithm that enables navigation of a quadruped robot in both static and semi-static environments. The prior areas of the environment are also segmented according to the quadruped robots' abilities to pass them. Moreover, we have developed an adaptive neural field optimal motion planner (ANFOMP) that considers both collision probability and obstacle height in 2D space.Our new navigation and mapping approach enables quadruped robots to adjust their height and behavior to navigate under arches and push through obstacles with smaller dimensions. The multi-agent mapping operation has proven to be highly accurate, with an obstacle reconstruction precision of 82%. Moreover, the quadruped robot can navigate with 3D obstacle information and the ANFOMP system, resulting in a 33.3% reduction in path length and a 70% reduction in navigation time.

Maintaining a balance between the supply and demand of products by optimizing replenishment decisions is one of the most important challenges in the supply chain industry. This paper presents a novel reinforcement learning framework called MARLIM, to address the inventory management problem for a single-echelon multi-products supply chain with stochastic demands and lead-times. Within this context, controllers are developed through single or multiple agents in a cooperative setting. Numerical experiments on real data demonstrate the benefits of reinforcement learning methods over traditional baselines.

This research paper delves into the integration of OpenAI's ChatGPT into embodied agent systems, evaluating its influence on interactive decision-making benchmark. Drawing a parallel to the concept of people assuming roles according to their unique strengths, we introduce InterAct. In this approach, we feed ChatGPT with varied prompts, assigning it a numerous roles like a checker and a sorter, then integrating them with the original language model. Our research shows a remarkable success rate of 98% in AlfWorld, which consists of 6 different tasks in a simulated household environment, emphasizing the significance of proficient prompt engineering. The results highlight ChatGPT's competence in comprehending and performing intricate tasks effectively in real-world settings, thus paving the way for further advancements in task planning.

Trust has been identified as a central factor for effective human-robot teaming. Existing literature on trust modeling predominantly focuses on dyadic human-autonomy teams where one human agent interacts with one robot. There is little, if not no, research on trust modeling in teams consisting of multiple human agents and multiple robotic agents. To fill this research gap, we present the trust inference and propagation (TIP) model for trust modeling in multi-human multi-robot teams. In a multi-human multi-robot team, we postulate that there exist two types of experiences that a human agent has with a robot: direct and indirect experiences. The TIP model presents a novel mathematical framework that explicitly accounts for both types of experiences. To evaluate the model, we conducted a human-subject experiment with 15 pairs of participants (${N=30}$). Each pair performed a search and detection task with two drones. Results show that our TIP model successfully captured the underlying trust dynamics and significantly outperformed a baseline model. To the best of our knowledge, the TIP model is the first mathematical framework for computational trust modeling in multi-human multi-robot teams.

21st Century war is increasing in speed, with conventional forces combined with massed use of autonomous systems and human-machine integration. However, a significant challenge is how humans can ensure moral and legal responsibility for systems operating outside of normal temporal parameters. This chapter considers whether humans can stand outside of real time and authorise actions for autonomous systems by the prior establishment of a contract, for actions to occur in a future context particularly in faster than real time or in very slow operations where human consciousness and concentration could not remain well informed. The medical legal precdent found in 'advance care directives' suggests how the time-consuming, deliberative process required for accountability and responsibility of weapons systems may be achievable outside real time captured in an 'advance control driective' (ACD). The chapter proposes 'autonomy command' scaffolded and legitimised through the construction of ACD ahead of the deployment of autonomous systems.

Liquid democracy is a hybrid direct-representative decision making process that provides each voter with the option of either voting directly or to delegate their vote to another voter, i.e., to a representative of their choice. One of the proposed advantages of liquid democracy is that, in general, it is assumed that voters will delegate their vote to others that are better informed, which leads to more informed and better decisions. Considering an audience from various knowledge domains, we provide an accessible high-level analysis of a prominent critique of liquid democracy by Caragiannis and Micha. Caragiannis and Micha's critique contains three central topics: 1. Analysis using their $\alpha$-delegation model, which does not assume delegation to the more informed; 2. Novel delegation network structures where it is advantageous to delegate to the less informed rather than the more informed; and 3. Due to NP hardness, the implied impracticability of a social network obtaining an optimal delegation structure. We show that in the real world, Caragiannis and Micha's critique of liquid democracy has little or no relevance. Respectively, our critique is based on: 1. The identification of incorrect $\alpha$-delegation model assumptions; 2. A lack of novel delegation structures and their effect in a real-world implementation of liquid democracy, which would be guaranteed with constraints that sensibly distribute voting power; and 3. The irrelevance of an optimal delegation structure if the correct result is guaranteed regardless. We conclude that Caragiannis and Micha's critique has no significant negative relevance to the proposition of liquid democracy.

We study the complexity of computing the Shapley value in partition function form games. We focus on two representations based on marginal contribution nets (embedded MC-nets and weighted MC-nets) and five extensions of the Shapley value. Our results show that while weighted MC-nets are more concise than embedded MC-nets, they have slightly worse computational properties when it comes to computing the Shapley value: two out of five extensions can be computed in polynomial time for embedded MC-nets and only one for weighted MC-nets.

For Industry 4.0 Revolution, cooperative autonomous mobility systems are widely used based on multi-agent reinforcement learning (MARL). However, the MARL-based algorithms suffer from huge parameter utilization and convergence difficulties with many agents. To tackle these problems, a quantum MARL (QMARL) algorithm based on the concept of actor-critic network is proposed, which is beneficial in terms of scalability, to deal with the limitations in the noisy intermediate-scale quantum (NISQ) era. Additionally, our QMARL is also beneficial in terms of efficient parameter utilization and fast convergence due to quantum supremacy. Note that the reward in our QMARL is defined as task precision over computation time in multiple agents, thus, multi-agent cooperation can be realized. For further improvement, an additional technique for scalability is proposed, which is called projection value measure (PVM). Based on PVM, our proposed QMARL can achieve the highest reward, by reducing the action dimension into a logarithmic-scale. Finally, we can conclude that our proposed QMARL with PVM outperforms the other algorithms in terms of efficient parameter utilization, fast convergence, and scalability.