We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve their limited flight range, drones can seamlessly hop between and ride on top of public transit vehicles (e.g., buses and trams). We design a novel comprehensive algorithmic framework that strives to minimize the maximum time to complete any delivery. We address the multifaceted complexity of the problem through a two-layer approach. First, the upper layer assigns drones to package delivery sequences with a provably near-optimal polynomial-time task allocation algorithm. Then, the lower layer executes the allocation by periodically routing the fleet over the transit network while employing efficient bounded-suboptimal multi-agent pathfinding techniques tailored to our setting. We present extensive experiments supporting the efficiency of our approach on settings with up to $200$ drones, $5000$ packages, and large transit networks of up to $8000$ stops in San Francisco and the Washington DC area. Our results show that the framework can compute solutions within a few seconds (up to $2$ minutes for the largest settings) on commodity hardware, and that drones travel up to $450 \%$ of their flight range by using public transit.

Given a certain complexity level, humanized agents may select from a wide range of possible tasks, with each activity corresponding to a transient goal. In general there will be no overarching credit assignment scheme allowing to compare available options with respect to expected utilities. For this situation we propose a task selection framework that is based on time allocation via emotional stationarity (TAES). Emotions are argued to correspond to abstract criteria, such as satisfaction, challenge and boredom, along which activities that have been carried out can be evaluated. The resulting timeline of experienced emotions is then compared with the `character' of the agent, which is defined in terms of a preferred distribution of emotional states. The long-term goal of the agent, to align experience with character, is achieved by optimizing the frequency for selecting the individual tasks. Upon optimization, the statistics of emotion experience becomes stationary.

We investigate the combination of actor-critic reinforcement learning algorithms with uniform large-scale experience replay and propose solutions for two challenges: (a) efficient actor-critic learning with experience replay (b) stability of very off-policy learning. We employ those insights to accelerate hyper-parameter sweeps in which all participating agents run concurrently and share their experience via a common replay module. To this end we analyze the bias-variance tradeoffs in V-trace, a form of importance sampling for actor-critic methods. Based on our analysis, we then argue for mixing experience sampled from replay with on-policy experience, and propose a new trust region scheme that scales effectively to data distributions where V-trace becomes unstable. We provide extensive empirical validation of the proposed solution. We further show the benefits of this setup by demonstrating state-of-the-art data efficiency on Atari among agents trained up until 200M environment frames.

To coordinate with other systems, agents must be able to determine what the systems are currently doing and predict what they will be doing in the future---plan and goal recognition. There are many methods for plan and goal recognition, but they assume a passive observer that continually monitors the target system. Real-world domains, where information gathering has a cost (e.g., moving a camera or a robot, or time taken away from another task), will often require a more active observer. We propose to combine goal recognition with other observer tasks in order to obtain \emph{active goal recognition} (AGR). We discuss this problem and provide a model and preliminary experimental results for one form of this composite problem. As expected, the results show that optimal behavior in AGR problems balance information gathering with other actions (e.g., task completion) such as to achieve all tasks jointly and efficiently. We hope that our formulation opens the door for extensive further research on this interesting and realistic problem.

It's Not Whom You Know, It's What You (or Your Friends) Can Do: Succint Coalitional Frameworks for Network Centralities. September 25, 2019 Abstract We investigate the representation of game-theoretic measures of network centrality using a framework that blends a social network representation with the succint formalism of cooperative skill games. We discuss the expressiveness of the new framework and highlight some of its advantages, including a fixed-parameter tractability result for computing centrality measures under such representations. As an application we introduce new network centrality measures that capture the extent to which neighbors of a certain node can help it complete relevant tasks. 1 Introduction Measures of network centrality have a long and rich history in the social sciences [1] and Artificial Intelligence. Such measures have proved useful for a variety of tasks, such as identifying spreading nodes [2] and gatekeepers for information dissemination [3], advertising ...

Continuous control tasks in reinforcement learning are important because they provide an important framework for learning in high-dimensional state spaces with deceptive rewards, where the agent can easily become trapped into suboptimal solutions. One way to avoid local optima is to use a population of agents to ensure coverage of the policy space, yet learning a population with the "best" coverage is still an open problem. In this work, we present a novel approach to population-based RL in continuous control that leverages properties of normalizing flows to perform attractive and repulsive operations between current members of the population and previously observed policies. Empirical results on the MuJoCo suite demonstrate a high performance gain for our algorithm compared to prior work, including Soft-Actor Critic (SAC).

Competition is one of the socio-economic dynamics that has influenced our evolutions as species. The vast amount of complexity and diversity on Earth evolved due to co-evolution and competition between organisms, directed by natural selection. By competing against a different party, we are constantly forced to improve our knowledge and skills on a specific subject. Recent developments in artificial intelligence(AI) have started to leverage some of the principles of competition to influence learning behaviors in AI agents. Specifically, the field of multi-agent reinforcement learning(MARL) has been heavily influenced by the competitive and game-theoretic dynamics.

Traffic congestion in metropolitan areas is a world-wide problem that can be ameliorated by traffic lights that respond dynamically to real-time conditions. Recent studies applying deep reinforcement learning (RL) to optimize single traffic lights have shown significant improvement over conventional control. However, optimization of global traffic condition over a large road network fundamentally is a cooperative multi-agent control problem, for which single-agent RL is not suitable due to environment non-stationarity and infeasibility of optimizing over an exponential joint-action space. Motivated by these challenges, we propose QCOMBO, a simple yet effective multi-agent reinforcement learning (MARL) algorithm that combines the advantages of independent and centralized learning. We ensure scalability by selecting actions from individually optimized utility functions, which are shaped to maximize global performance via a novel consistency regularization loss between individual utility and a global action-value function. Experiments on diverse road topologies and traffic flow conditions in the SUMO traffic simulator show competitive performance of QCOMBO versus recent state-of-the-art MARL algorithms. We further show that policies trained on small sub-networks can effectively generalize to larger networks under different traffic flow conditions, providing empirical evidence for the suitability of MARL for intelligent traffic control.

Gradient-based methods for optimisation of objectives in stochastic settings with unknown or intractable dynamics require estimators of derivatives. We derive an objective that, under automatic differentiation, produces low-variance unbiased estimators of derivatives at any order. Our objective is compatible with arbitrary advantage estimators, which allows the control of the bias and variance of any-order derivatives when using function approximation. Furthermore, we propose a method to trade off bias and variance of higher order derivatives by discounting the impact of more distant causal dependencies. We demonstrate the correctness and utility of our objective in analytically tractable MDPs and in meta-reinforcement-learning for continuous control.

Hierarchical reinforcement learning has demonstrated significant success at solving difficult reinforcement learning (RL) tasks. Previous works have motivated the use of hierarchy by appealing to a number of intuitive benefits, including learning over temporally extended transitions, exploring over temporally extended periods, and training and exploring in a more semantically meaningful action space, among others. However, in fully observed, Markovian settings, it is not immediately clear why hierarchical RL should provide benefits over standard "shallow" RL architectures. In this work, we isolate and evaluate the claimed benefits of hierarchical RL on a suite of tasks encompassing locomotion, navigation, and manipulation. Surprisingly, we find that most of the observed benefits of hierarchy can be attributed to improved exploration, as opposed to easier policy learning or imposed hierarchical structures. Given this insight, we present exploration techniques inspired by hierarchy that achieve performance competitive with hierarchical RL while at the same time being much simpler to use and implement.