Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks without tiring, while humans in the loop improve situational awareness and enhance decision-making abilities. A system's ability to adapt allocated workload to changing conditions and the performance of each individual (human and robot) during the mission is vital to maintaining overall system performance. Previous works from literature including market-based and optimization approaches have attempted to address the task/workload allocation problem with focus on maximizing the system output without regarding individual agent conditions, lacking in real-time processing and have mostly focused exclusively on multi-robot systems. Given the variety of possible combination of teams (autonomous robots and human-operated robots: any number of human operators operating any number of robots at a time) and the operational scale of MH-MR systems, development of a generalized framework of workload allocation has been a particularly challenging task. In this paper, we present such a framework for independent homogeneous missions, capable of adaptively allocating the system workload in relation to health conditions and work performances of human-operated and autonomous robots in real-time. The framework consists of removable modular function blocks ensuring its applicability to different MH-MR scenarios. A new workload transition function block ensures smooth transition without the workload change having adverse effects on individual agents. The effectiveness and scalability of the system's workload adaptability is validated by experiments applying the proposed framework in a MH-MR patrolling scenario with changing human and robot condition, and failing robots.

In reinforcement learning, it is typical to use the empirically observed transitions and rewards to estimate the value of a policy via either model-based or Q-fitting approaches. Although straightforward, these techniques in general yield biased estimates of the true value of the policy. In this work, we investigate the potential for statistical bootstrapping to be used as a way to take these biased estimates and produce calibrated confidence intervals for the true value of the policy. We identify conditions - specifically, sufficient data size and sufficient coverage - under which statistical bootstrapping in this setting is guaranteed to yield correct confidence intervals. In practical situations, these conditions often do not hold, and so we discuss and propose mechanisms that can be employed to mitigate their effects. We evaluate our proposed method and show that it can yield accurate confidence intervals in a variety of conditions, including challenging continuous control environments and small data regimes.

In this survey, we study how recent advances in machine intelligence are disrupting the world of business processes. Over the last decade, there has been steady progress towards the automation of business processes under the umbrella of ``robotic process automation'' (RPA). However, we are currently at an inflection point in this evolution, as a new paradigm called ``Intelligent Process Automation'' (IPA) emerges, bringing machine learning (ML) and artificial intelligence (AI) technologies to bear in order to improve business process outcomes. The purpose of this paper is to provide a survey of this emerging theme and identify key open research challenges at the intersection of AI and business processes. We hope that this emerging theme will spark engaging conversations at the RPA Forum.

Robotic process automation (RPA) has emerged as the leading approach to automate tasks in business processes. Moving away from back-end automation, RPA automated the mouse-click on user interfaces; this outside-in approach reduced the overhead of updating legacy software. However, its many shortcomings, namely its lack of accessibility to business users, have prevented its widespread adoption in highly regulated industries. In this work, we explore interactive automation in the form of a conversational digital assistant. It allows business users to interact with and customize their automation solutions through natural language. The framework, which creates such assistants, relies on a multi-agent orchestration model and conversational wrappers for autonomous agents including RPAs. We demonstrate the effectiveness of our proposed approach on a loan approval business process and a travel preapproval business process.

We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We present a multi-robot allocation algorithm that decouples the key computational challenges of sequential decision-making under uncertainty and multi-agent coordination and addresses them in a hierarchical manner. The lower layer computes policies for individual agents using dynamic programming with tree search, and the upper layer resolves conflicts in individual plans to obtain a valid multi-agent allocation. Our algorithm, Stochastic Conflict-Based Allocation (SCoBA), is optimal in expectation and complete under some reasonable assumptions. In practice, SCoBA is computationally efficient enough to interleave planning and execution online. On the metric of successful task completion, SCoBA consistently outperforms a number of baseline methods and shows strong competitive performance against an oracle with complete lookahead. It also scales well with the number of tasks and agents. We validate our results over a wide range of simulations on two distinct domains: multi-arm conveyor belt pick-and-place and multi-drone delivery dispatch in a city.

In recent years, many sectors have experienced significant progress in automation, associated with the growing advances in artificial intelligence and machine learning. There are already automated robotic weapons, which are able to evaluate and engage with targets on their own, and there are already autonomous vehicles that do not need a human driver. It is argued that the use of increasingly autonomous systems (AS) should be guided by the policy of human control, according to which humans should execute a certain significant level of judgment over AS. While in the military sector there is a fear that AS could mean that humans lose control over life and death decisions, in the transportation domain, on the contrary, there is a strongly held view that autonomy could bring significant operational benefits by removing the need for a human driver. This article explores the notion of human control in the United States in the two domains of defense and transportation.

One of the ultimate goals of artificial intelligence is the ability for machines to operate on their own, with little or any human interaction. This idea of autonomous systems makes up one of the seven patterns of AI that represents the common ways that organizations are applying AI. While some of the patterns are focused on predictive analytics or conversational patterns, or systems that can recognize things in the world around us, those patterns still involve human interaction. After all, we need humans to be involved in conversational or recognition systems. However, the autonomous pattern is much more complicated as we're asking a machine to do something in the real world without a human in the loop.

The design and implementation of an e-voting system is a challenging task. Formal analysis can be of great help here. In particular, it can lead to a better understanding of how the voting system works, and what requirements on the system are relevant. In this paper, we propose that the state-of-art model checker Uppaal provides a good environment for modelling and preliminary verification of voting protocols. To illustrate this, we present an Uppaal model of Pr\^et \`a Voter, together with some natural extensions. We also show how to verify a variant of receipt-freeness, despite the severe limitations of the property specification language in the model checker.

"Nonstationarity" is a fundamental problem in cooperative multi-agent reinforcement learning (MARL)--each agent must relearn information about the other agent's policies due to the other agents learning, causing information to "ring" between agents and convergence to be slow. The MAILP model, introduced by Terry and Grammel (2020), is a novel model of information transfer during multi-agent learning. We use the MAILP model to show that increasing training centralization arbitrarily mitigates the slowing of convergence due to nonstationarity. The most centralized case of learning is parameter sharing, an uncommonly used MARL method, specific to environments with homogeneous agents, that bootstraps a single-agent reinforcement learning (RL) methods and learns an identical policy for each agent. We experimentally replicate the result of increased learning centralization leading to better performance on the MARL benchmark set from Gupta et al. (2017). We further apply parameter sharing to 8 "more modern" single-agent deep RL (DRL) methods for the first time in the literature. With this, we achieved the best documented performance on a set of MARL benchmarks and achieved up to 44 times more average reward in as little as 16% as many episodes compared to documented parameter sharing arrangement. We finally offer a formal proof of a set of methods that allow parameter sharing to serve in environments with heterogeneous agents.

Human collaborators can effectively communicate with their partners to finish a common task by inferring each other's mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among collaborators' mental states, and is crucial to the success in human ad-hoc teaming. We believe that robots collaborating with human users should demonstrate similar pedagogic behavior. Thus, in this paper, we propose a novel explainable AI (XAI) framework for achieving human-like communication in human-robot collaborations, where the robot builds a hierarchical mind model of the human user and generates explanations of its own mind as a form of communications based on its online Bayesian inference of the user's mental state. To evaluate our framework, we conduct a user study on a real-time human-robot cooking task. Experimental results show that the generated explanations of our approach significantly improves the collaboration performance and user perception of the robot. Code and video demos are available on our project website: https://xfgao.github.io/xCookingWeb/.