To be robust to surprising developments, an intelligent agent must be able to respond to many different types of unexpected change in the world. To date, there are no general frameworks for defining and characterizing the types of environment changes that are possible. We introduce a formal and theoretical framework for defining and categorizing environment transformations, changes to the world an agent inhabits. We introduce two types of environment transformation: R-transformations which modify environment dynamics and T-transformations which modify the generation process that produces scenarios. We present a new language for describing domains, scenario generators, and transformations, called the Transformation and Simulator Abstraction Language (T-SAL), and a logical formalism that rigorously defines these concepts. Then, we offer the first formal and computational set of tests for eight categories of environment transformations. This domain-independent framework paves the way for describing unambiguous classes of novelty, constrained and domain-independent random generation of environment transformations, replication of environment transformation studies, and fair evaluation of agent robustness.

We consider a K-armed bandit problem in general graphs where agents are arbitrarily connected and each of them has limited memorizing capabilities and communication bandwidth. The goal is to let each of the agents eventually learn the best arm. It is assumed in these studies that the communication graph should be complete or well-structured, whereas such an assumption is not always valid in practice. Furthermore, limited memorization and communication bandwidth also restrict the collaborations of the agents, since the agents memorize and communicate very few experiences. Additionally, an agent may be corrupted to share falsified experiences to its peers, while the resource limit in terms of memorization and communication may considerably restrict the reliability of the learning process. To address the above issues, we propose a three-staged collaborative learning algorithm. In each step, the agents share their latest experiences with each other through light-weight random walks in a general communication graph, and then make decisions on which arms to pull according to the recommendations received from their peers. The agents finally update their adoptions (i.e., preferences to the arms) based on the reward obtained by pulling the arms. Our theoretical analysis shows that, when there are a sufficient number of agents participating in the collaborative learning process, all the agents eventually learn the best arm with high probability, even with limited memorizing capabilities and light-weight communications. We also reveal in our theoretical analysis the upper bound on the number of corrupted agents our algorithm can tolerate. The efficacy of our proposed three-staged collaborative learning algorithm is finally verified by extensive experiments on both synthetic and real datasets.

We study multi-item profit maximization when there is an underlying distribution over buyers' values. In practice, a full description of the distribution is typically unavailable, so we study the setting where the mechanism designer only has samples from the distribution. If the designer uses the samples to optimize over a complex mechanism class -- such as the set of all multi-item, multi-buyer mechanisms -- a mechanism may have high average profit over the samples but low expected profit. This raises the central question of this paper: how many samples are sufficient to ensure that a mechanism's average profit is close to its expected profit? To answer this question, we uncover structure shared by many pricing, auction, and lottery mechanisms: for any set of buyers' values, profit is piecewise linear in the mechanism's parameters. Using this structure, we prove new bounds for mechanism classes not yet studied in the sample-based mechanism design literature and match or improve over the best-known guarantees for many classes.

This study extends the recently-developed LaCAM algorithm for multi-agent pathfinding (MAPF). LaCAM is a sub-optimal search-based algorithm that uses lazy successor generation to dramatically reduce the planning effort. We present two enhancements. First, we propose its anytime version, called LaCAM*, which eventually converges to optima, provided that solution costs are accumulated transition costs. Second, we improve the successor generation to quickly obtain initial solutions. Exhaustive experiments demonstrate their utility. For instance, LaCAM* sub-optimally solved 99% of the instances retrieved from the MAPF benchmark, where the number of agents varied up to a thousand, within ten seconds on a standard desktop PC, while ensuring eventual convergence to optima; developing a new horizon of MAPF algorithms.

The field of decentralized and distributed learning fits in with the area of modern Internet-of-Things (IoT) and wireless sensor networks (WSN) applications. Due to technological advances and functional advantages related to robustness and scalability [20], decentralized and distributed techniques are becoming more widespread in industry and are the subject of ongoing scientific research. Among various goals specific for learning and inference in decentralized networks, like learning linear modules [15], distributed economic dispatch [6] or target tracking [11], one can point out estimation tasks as in [2] or [4]. In this scenario, sensors (or agents) are scattered around a given area and collect data about an unknown phenomenon, modelled as a nonlinear function m: R R. Due to potential communication restrictions and the lack of dedicated fusion centers, agents may rely only on their local/private measurements and available network information. Following [12] and [7] we begin with brief summary of a few well-known strategies.

Interactive Task Learning (ITL) concerns learning about unforeseen domain concepts via natural interactions with human users. The learner faces a number of significant constraints: learning should be online, incremental and few-shot, as it is expected to perform tangible belief updates right after novel words denoting unforeseen concepts are introduced. In this work, we explore a challenging symbol grounding task--discriminating among object classes that look very similar--within the constraints imposed by ITL. We demonstrate empirically that more data-efficient grounding results from exploiting the truth-conditions of the teacher's generic statements (e.g., "Xs have attribute Z.") and their implicatures in context (e.g., as an answer to "How are Xs and Ys different?", one infers Y lacks attribute Z).

Electoral control types are ways of trying to change the outcome of elections by altering aspects of their composition and structure [BTT92]. We say two compatible (i.e., having the same input types) control types that are about the same election system E form a collapsing pair if for every possible input (which typically consists of a candidate set, a vote set, a focus candidate, and sometimes other parameters related to the nature of the attempted alteration), either both or neither of the attempted attacks can be successfully carried out [HHM20]. For each of the seven general (i.e., holding for all election systems) electoral control type collapsing pairs found by Hemaspaandra, Hemaspaandra, and Menton [HHM20] and for each of the additional electoral control type collapsing pairs of Carleton et al. [CCH+ 22] for veto and approval (and many other election systems in light of that paper's Theorems 3.6 and 3.9), both members of the collapsing pair have the same complexity since as sets they are the same set. However, having the same complexity (as sets) is not enough to guarantee that as search problems they have the same complexity. In this paper, we explore the relationships between the search versions of collapsing pairs. For each of the collapsing pairs of Hemaspaandra, Hemaspaandra, and Menton [HHM20] and Carleton et al. [CCH+ 22], we prove that the pair's members' search-version complexities are polynomially related (given access, for cases when the winner problem itself is not in polynomial time, to an oracle for the winner problem). Beyond that, we give efficient reductions that from a solution to one compute a solution to the other. For the concrete systems plurality, veto, and approval, we completely determine which of their (due to our results) polynomially-related collapsing search-problem pairs are polynomial-time computable and which are NP-hard.

Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital importance for any coordination amongst them. The paradigm of a centralized architecture is well established, with the robots (i.e. agents) running Visual-Inertial Odometry (VIO) onboard while communicating relevant data, such as e.g. Keyframes (KFs), to a central back-end (i.e. server), which then merges and optimizes the joint maps of the agents. While these frameworks have proven to be successful, their capability and performance are highly dependent on the choice of the VIO front-end, thus limiting their flexibility. In this work, we present COVINS-G, a generalized back-end building upon the COVINS framework, enabling the compatibility of the server-back-end with any arbitrary VIO front-end, including, for example, off-the-shelf cameras with odometry capabilities, such as the Realsense T265. The COVINS-G back-end deploys a multi-camera relative pose estimation algorithm for computing the loop-closure constraints allowing the system to work purely on 2D image data. In the experimental evaluation, we show on-par accuracy with state-of-the-art multi-session and collaborative SLAM systems, while demonstrating the flexibility and generality of our approach by employing different front-ends onboard collaborating agents within the same mission. The COVINS-G codebase along with a generalized front-end wrapper to allow any existing VIO front-end to be readily used in combination with the proposed collaborative back-end is open-sourced. Video: https://youtu.be/FoJfXCfaYDw

Autocurricular training is an important sub-area of multi-agent reinforcement learning~(MARL) that allows multiple agents to learn emergent skills in an unsupervised co-evolving scheme. The robotics community has experimented autocurricular training with physically grounded problems, such as robust control and interactive manipulation tasks. However, the asymmetric nature of these tasks makes the generation of sophisticated policies challenging. Indeed, the asymmetry in the environment may implicitly or explicitly provide an advantage to a subset of agents which could, in turn, lead to a low-quality equilibrium. This paper proposes a novel game-theoretic algorithm, Stackelberg Multi-Agent Deep Deterministic Policy Gradient (ST-MADDPG), which formulates a two-player MARL problem as a Stackelberg game with one player as the `leader' and the other as the `follower' in a hierarchical interaction structure wherein the leader has an advantage. We first demonstrate that the leader's advantage from ST-MADDPG can be used to alleviate the inherent asymmetry in the environment. By exploiting the leader's advantage, ST-MADDPG improves the quality of a co-evolution process and results in more sophisticated and complex strategies that work well even against an unseen strong opponent.

Federated learning is an important framework in modern machine learning that seeks to integrate the training of learning models from multiple users, each user having their own local data set, in a way that is sensitive to data privacy and to communication loss constraints. In clustered federated learning, one assumes an additional unknown group structure among users, and the goal is to train models that are useful for each group, rather than simply training a single global model for all users. In this paper, we propose a novel solution to the problem of clustered federated learning that is inspired by ideas in consensus-based optimization (CBO). Our new CBO-type method is based on a system of interacting particles that is oblivious to group memberships. Our model is motivated by rigorous mathematical reasoning, including a mean field analysis describing the large number of particles limit of our particle system, as well as convergence guarantees for the simultaneous global optimization of general non-convex objective functions (corresponding to the loss functions of each cluster of users) in the mean-field regime. Experimental results demonstrate the efficacy of our FedCBO algorithm compared to other state-of-the-art methods and help validate our methodological and theoretical work.