The explosion of conference paper submissions in AI and related fields, has underscored the need to improve many aspects of the peer review process, especially the matching of papers and reviewers. Recent work argues that the key to improve this matching is to modify aspects of the \emph{bidding phase} itself, to ensure that the set of bids over papers is balanced, and in particular to avoid \emph{orphan papers}, i.e., those papers that receive no bids. In an attempt to understand and mitigate this problem, we have developed a flexible bidding platform to test adaptations to the bidding process. Using this platform, we performed a field experiment during the bidding phase of a medium-size international workshop that compared two bidding methods. We further examined via controlled experiments on Amazon Mechanical Turk various factors that affect bidding, in particular the order in which papers are presented \cite{cabanac2013capitalizing,fiez2020super}; and information on paper demand \cite{meir2021market}. Our results suggest that several simple adaptations, that can be added to any existing platform, may significantly reduce the skew in bids, thereby improving the allocation for both reviewers and conference organizers.

Vehicle routing is a well-known optimization research topic with significant practical importance. Among different approaches to solving vehicle routing, heuristics can produce a satisfactory solution at a reasonable computational cost. Consequently, much effort has been made in the past decades to develop vehicle routing heuristics. In this article, we systematically survey the existing vehicle routing heuristics, particularly on works carried out in recent years. A classification of vehicle routing heuristics is presented, followed by a review of their methodologies, recent developments, and applications. Moreover, we present a general framework of state-of-the-art methods and provide insights into their success. Finally, three emerging research topics with notable works and future directions are discussed.

The emergence of harvesting robotics offers a promising solution to the issue of limited agricultural labor resources and the increasing demand for fruits. Despite notable advancements in the field of harvesting robotics, the utilization of such technology in orchards is still limited. The key challenge is to improve operational efficiency. Taking into account inner-arm conflicts, couplings of DoFs, and dynamic tasks, we propose a task planning strategy for a harvesting robot with four arms in this paper. The proposed method employs a Markov game framework to formulate the four-arm robotic harvesting task, which avoids the computational complexity of solving an NP-hard scheduling problem. Furthermore, a multi-agent reinforcement learning (MARL) structure with a fully centralized collaboration protocol is used to train a MARL-based task planning network. Several simulations and orchard experiments are conducted to validate the effectiveness of the proposed method for a multi-arm harvesting robot in comparison with the existing method.

Handling the problem of scalability is one of the essential issues for multi-agent reinforcement learning (MARL) algorithms to be applied to real-world problems typically involving massively many agents. For this, parameter sharing across multiple agents has widely been used since it reduces the training time by decreasing the number of parameters and increasing the sample efficiency. However, using the same parameters across agents limits the representational capacity of the joint policy and consequently, the performance can be degraded in multi-agent tasks that require different behaviors for different agents. In this paper, we propose a simple method that adopts structured pruning for a deep neural network to increase the representational capacity of the joint policy without introducing additional parameters. We evaluate the proposed method on several benchmark tasks, and numerical results show that the proposed method significantly outperforms other parameter-sharing methods.

In this paper, we propose a new mutual information framework for multi-agent reinforcement learning to enable multiple agents to learn coordinated behaviors by regularizing the accumulated return with the simultaneous mutual information between multi-agent actions. By introducing a latent variable to induce nonzero mutual information between multi-agent actions and applying a variational bound, we derive a tractable lower bound on the considered MMI-regularized objective function. The derived tractable objective can be interpreted as maximum entropy reinforcement learning combined with uncertainty reduction of other agents actions. Applying policy iteration to maximize the derived lower bound, we propose a practical algorithm named variational maximum mutual information multi-agent actor-critic, which follows centralized learning with decentralized execution. We evaluated VM3-AC for several games requiring coordination, and numerical results show that VM3-AC outperforms other MARL algorithms in multi-agent tasks requiring high-quality coordination.

Although parallelism has been extensively used in reinforcement learning (RL), the quantitative effects of parallel exploration are not well understood theoretically. We study the benefits of simple parallel exploration for reward-free RL in linear Markov decision processes (MDPs) and two-player zero-sum Markov games (MGs). In contrast to the existing literature, which focuses on approaches that encourage agents to explore a diverse set of policies, we show that using a single policy to guide exploration across all agents is sufficient to obtain an almost-linear speedup in all cases compared to their fully sequential counterpart. Furthermore, we demonstrate that this simple procedure is near-minimax optimal in the reward-free setting for linear MDPs. From a practical perspective, our paper shows that a single policy is sufficient and provably near-optimal for incorporating parallelism during the exploration phase.

This study proposes a model of computational consciousness for non-interacting agents. The phenomenon of interest was assumed as sequentially dependent on the cognitive tasks of sensation, perception, emotion, affection, attention, awareness, and consciousness. Starting from the Smart Sensing prodromal study, the cognitive layers associated with the processes of attention, awareness, and consciousness were formally defined and tested together with the other processes concerning sensation, perception, emotion, and affection. The output of the model consists of an index that synthesizes the energetic and entropic contributions of consciousness from a computationally moral perspective. Attention was modeled through a bottom-up approach, while awareness and consciousness by distinguishing environment from subjective cognitive processes. By testing the solution on visual stimuli eliciting the emotions of happiness, anger, fear, surprise, contempt, sadness, disgust, and the neutral state, it was found that the proposed model is concordant with the scientific evidence concerning covert attention. Comparable results were also obtained regarding studies investigating awareness as a consequence of visual stimuli repetition, as well as those investigating moral judgments to visual stimuli eliciting disgust and sadness. The solution represents a novel approach for defining computational consciousness through artificial emotional activity and morality.

Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation calculus has focused on non-probabilistic domains, we describe an approach to abstraction of probabilistic and dynamic systems. Based on a variant of the situation calculus with probabilistic belief, we define a notion of bisimulation that allows to abstract a detailed probabilistic basic action theory with noisy actuators and sensors by a possibly non-stochastic basic action theory. By doing so, we obtain abstract Golog programs that omit unnecessary details and which can be translated back to a detailed program for actual execution. This simplifies the implementation of noisy robot programs, opens up the possibility of using non-stochastic reasoning methods (e.g., planning) on probabilistic problems, and provides domain descriptions that are more easily understandable and explainable.

Abstract: We discuss a simple approach to transform autoencoders into "pattern filters". Besides filtering, we show how this simple approach can be used also to build robust classifiers, by learning to filter only patterns of a given class. Abstract: The problem of permutation-invariant learning over set representations is particularly relevant in the field of multi-agent systems -- a few potential applications include unsupervised training of aggregation functions in graph neural networks (GNNs), neural cellular automata on graphs, and prediction of scenes with multiple objects. Yet existing approaches to set encoding and decoding tasks present a host of issues, including non-permutation-invariance, fixed-length outputs, reliance on iterative methods, non-deterministic outputs, computationally expensive loss functions, and poor reconstruction accuracy. In this paper we introduce a Permutation-Invariant Set Autoencoder (PISA), which tackles these problems and produces encodings with significantly lower reconstruction error than existing baselines.

Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable positional self-awareness in a swarm of minimalistic error-prone robots which can only locally broadcast messages and estimate the distance from their neighbours. Despite being unable to measure the bearing of incoming messages, the robots running our algorithm can calculate their position within a swarm deployed in a regular formation. We show through experiments with up to 200 Kilobot robots that such positional self-awareness can be employed by the robots to create a shared coordinate system and dynamically self-assign location-dependent tasks. Our solution has fewer requirements than state-of-the-art algorithms and contains collective noise-filtering mechanisms. Therefore, it has an extended range of robotic platforms on which it can run. All robots are interchangeable, run the same code, and do not need any prior knowledge. Through our algorithm, robots reach collective synchronisation, and can autonomously become self-aware of the swarm's spatial configuration and their position within it.