It has been experimentally shown that communities in social networks tend to have a core-periphery topology. However, there is still a limited understanding of the precise structure of core-periphery communities in social networks including the connectivity structure and interaction rates between agents. In this paper, we use a game-theoretic approach to derive a more precise characterization of the structure of core-periphery communities.

An open question in the study of emergent behaviour in multi-agent Bayesian systems is the relationship, if any, between individual and collective inference. In this paper we explore the correspondence between generative models that exist at two distinct scales, using spin glass models as a sandbox system to investigate this question. We show that the collective dynamics of a specific type of active inference agent is equivalent to sampling from the stationary distribution of a spin glass system. A collective of specifically-designed active inference agents can thus be described as implementing a form of sampling-based inference (namely, from a Boltzmann machine) at the higher level. However, this equivalence is very fragile, breaking upon simple modifications to the generative models of the individual agents or the nature of their interactions. We discuss the implications of this correspondence and its fragility for the study of multiscale systems composed of Bayesian agents.

The safety of single-vehicle autonomous driving technology is limited due to the limits of perception capability of on-board sensors. In contrast, vehicle-road collaboration technology can overcome those limits and improve the traffic safety and efficiency, by expanding the sensing range, improving the perception accuracy, and reducing the response time. However, such a technology is still under development; it requires rigorous testing and verification methods to ensure the reliability and trustworthiness of the technology. In this thesis, we focus on three major tasks: (1) analyze the functional characteristics related to the scenarios of vehicle-road cooperations, highlightening the differences between vehicle-road cooperative systems and traditional single-vehicle autonomous driving systems; (2) refine and classifiy the functional characteristics of vehicle-road cooperative systems; (3) design and develop a simulation system, and provide a visual interface to facilitate development and analysis. The efficiency and effectiveness the proposed method are verfied by experiments.

Through a series of federal initiatives and orders, the U.S. Government has been making a concerted effort to ensure American leadership in AI. These broad strategy documents have influenced organizations such as the United States Department of the Air Force (DAF). The DAF-MIT AI Accelerator is an initiative between the DAF and MIT to bridge the gap between AI researchers and DAF mission requirements. Several projects supported by the DAF-MIT AI Accelerator are developing public challenge problems that address numerous Federal AI research priorities. These challenges target priorities by making large, AI-ready datasets publicly available, incentivizing open-source solutions, and creating a demand signal for dual use technologies that can stimulate further research. In this article, we describe these public challenges being developed and how their application contributes to scientific advances.

Human behaviour is complex and nuanced. Consider how an act as simple as purchasing a cup of coffee involves an intricate spatio-temporal sequence of actions and perception: instructions, clarifications, and feedback weave across language, touch, and visual communicative cues, with the precise timing of each providing yet more information to our interactive partners. If we ever hope to create artificial agents that can participate in similar interactions, we must develop effective ways to evaluate their behaviour in naturalistic settings with humans. One obvious approach to evaluating interactive agent behaviour is to leverage a human's judgement during the course of their interaction with an agent. However, this requires a high human cost, both in number of human participants required and in total number of human hours spent, and has no straightforward mechanism to control for human behavioural diversity. The latter problem in particular can result in highly variable metrics if human behaviour is too noisy, or imprecise metrics if human behaviour is not diverse enough. Human behavior is also non-stationary over time, as it can be subtly impacted by agent performance, causing drift. Thus, despite being a "gold standard", the opacity of the online human-agent evaluation setting makes any generated metrics difficult to interpret and communicate, and hence, difficult to optimize for. Researchers therefore typically rely on other methods of evaluation, such as validation performance of the agent's optimized objective (e.g.

The standard problem setting in cooperative multi-agent settings is self-play (SP), where the goal is to train a team of agents that works well together. However, optimal SP policies commonly contain arbitrary conventions ("handshakes") and are not compatible with other, independently trained agents or humans. This latter desiderata was recently formalized by Hu et al. 2020 as the zero-shot coordination (ZSC) setting and partially addressed with their Other-Play (OP) algorithm, which showed improved ZSC and human-AI performance in the card game Hanabi. OP assumes access to the symmetries of the environment and prevents agents from breaking these in a mutually incompatible way during training. However, as the authors point out, discovering symmetries for a given environment is a computationally hard problem. Instead, we show that through a simple adaption of k-level reasoning (KLR) Costa Gomes et al. 2006, synchronously training all levels, we can obtain competitive ZSC and ad-hoc teamplay performance in Hanabi, including when paired with a human-like proxy bot. We also introduce a new method, synchronous-k-level reasoning with a best response (SyKLRBR), which further improves performance on our synchronous KLR by co-training a best response.

A schema-guided approach to dialogue management has been shown in recent work to be effective in creating robust customizable virtual agents capable of acting as friendly peers or task assistants. However, successful applications of these methods in open-ended, mixed-initiative domains remain elusive -- particularly within medical domains such as virtual standardized patients, where such complex interactions are commonplace -- and require more extensive and flexible dialogue management capabilities than previous systems provide. In this paper, we describe a general-purpose schema-guided dialogue management framework used to develop SOPHIE, a virtual standardized cancer patient that allows a doctor to conveniently practice for interactions with patients. We conduct a crowdsourced evaluation of conversations between medical students and SOPHIE. Our agent is judged to produce responses that are natural, emotionally appropriate, and consistent with her role as a cancer patient. Furthermore, it significantly outperforms an end-to-end neural model fine-tuned on a human standardized patient corpus, attesting to the advantages of a schema-guided approach.

Investigating cooperativity of interlocutors is central in studying pragmatics of dialogue. Models of conversation that only assume cooperative agents fail to explain the dynamics of strategic conversations. Thus, we investigate the ability of agents to identify non-cooperative interlocutors while completing a concurrent visual-dialogue task. Within this novel setting, we study the optimality of communication strategies for achieving this multi-task objective. We use the tools of learning theory to develop a theoretical model for identifying non-cooperative interlocutors and apply this theory to analyze different communication strategies. We also introduce a corpus of non-cooperative conversations about images in the GuessWhat?! dataset proposed by De Vries et al. (2017). We use reinforcement learning to implement multiple communication strategies in this context and find empirical results validate our theory.

Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict their interaction with unstructured environments. This work takes humans out of the loop by proposing a planner parameter adaptation framework that formulates objectives into two complementary categories and optimizes them asynchronously. Objectives evaluated with and without trajectory execution are optimized using Bayesian Optimization (BayesOpt) and Particle Swarm Optimization (PSO), respectively. By combining two kinds of objectives, the total convergence rate of the black-box optimization is accelerated while the dimension of optimized parameters can be increased. Benchmark comparisons demonstrate its superior performance over other strategies. Tests with changing obstacle densities validate its real-time environment adaption, which is difficult for prior manual tuning. Real-world flights with different drone platforms, environments, and planners show the proposed framework's scalability and effectiveness.

To safely navigate in various complex traffic scenarios, autonomous driving systems are generally equipped with a motion forecasting module to provide vital information for the downstream planning module. For the real-world onboard applications, both accuracy and latency of a motion forecasting model are essential. In this report, we present an effective and efficient solution, which ranks the 3rd place [1] in the Argoverse 2 Motion Forecasting Challenge 2022.