The area of formal ethics is experiencing a shift from a unique or standard approach to normative reasoning, as exemplified by so-called standard deontic logic, to a variety of application-specific theories. However, the adequate handling of normative concepts such as obligation, permission, prohibition, and moral commitment is challenging, as illustrated by the notorious paradoxes of deontic logic. In this article we introduce an approach to design and evaluate theories of normative reasoning. In particular, we present a formal framework based on higher-order logic, a design methodology, and we discuss tool support. Moreover, we illustrate the approach using an example of an implementation, we demonstrate different ways of using it, and we discuss how the design of normative theories is now made accessible to non-specialist users and developers.

Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for decentralized multi-agent decision making under uncertainty. However, they typically model a problem at a low level of granularity, where each agent's actions are primitive operations lasting exactly one time step. We address the case where each agent has macro-actions: temporally extended actions that may require different amounts of time to execute. We model macro-actions as options in a Dec-POMDP, focusing on actions that depend only on information directly available to the agent during execution. Therefore, we model systems where coordination decisions only occur at the level of deciding which macro-actions to execute. The core technical difficulty in this setting is that the options chosen by each agent no longer terminate at the same time. We extend three leading Dec-POMDP algorithms for policy generation to the macro-action case, and demonstrate their effectiveness in both standard benchmarks and a multi-robot coordination problem. The results show that our new algorithms retain agent coordination while allowing high-quality solutions to be generated for significantly longer horizons and larger state-spaces than previous Dec-POMDP methods. Furthermore, in the multi-robot domain, we show that, in contrast to most existing methods that are specialized to a particular problem class, our approach can synthesize control policies that exploit opportunities for coordination while balancing uncertainty, sensor information, and information about other agents.

We examine the problem of adversarial reinforcement learning for multi-agent domains including a rule-based agent. Rule-based algorithms are required in safety-critical applications for them to work properly in a wide range of situations. Hence, every effort is made to find failure scenarios during the development phase. However, as the software becomes complicated, finding failure cases becomes difficult. Especially in multi-agent domains, such as autonomous driving environments, it is much harder to find useful failure scenarios that help us improve the algorithm. We propose a method for efficiently finding failure scenarios; this method trains the adversarial agents using multi-agent reinforcement learning such that the tested rule-based agent fails. We demonstrate the effectiveness of our proposed method using a simple environment and autonomous driving simulator.

This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The standard MAPF is a task of navigating agents in an undirected graph from given starting vertices to given goal vertices so that agents do not collide with each other in vertices of the graph. In the continuous version (MAPF$^\mathcal{R}$) agents move in an $n$-dimensional Euclidean space along straight lines that interconnect predefined positions. For simplicity, we work with circular omni-directional agents having constant velocities in the 2D plane. As agents can have different sizes and move smoothly along lines, a non-colliding movement along certain lines with small agents can result in a collision if the same movement is performed with larger agents. Our SMT-based approach for MAPF$^\mathcal{R}$ called SMT-CBS$^\mathcal{R}$ reformulates the Conflict-based Search (CBS) algorithm in terms of SMT concepts. We suggest lazy generation of decision variables and constraints. Each time a new conflict is discovered, the underlying encoding is extended with new variables and constraints to eliminate the conflict. We compared SMT-CBS$^\mathcal{R}$ and adaptations of CBS for the continuous variant of MAPF experimentally.

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in advance. While impressive results have been shown on predicting each agent's behavior independently, we argue that it is not valid to consider road entities individually since transitions of vehicle states are highly coupled. Moreover, as the predicted horizon becomes longer, modeling prediction uncertainties and multi-modal distributions over future sequences will turn into a more challenging task. In this paper, we address this challenge by presenting a multi-modal probabilistic prediction approach. The proposed method is based on a generative model and is capable of jointly predicting sequential motions of each pair of interacting agents. Most importantly, our model is interpretable, which can explain the underneath logic as well as obtain more reliability to use in real applications. A complicate real-world roundabout scenario is utilized to implement and examine the proposed method.

Machine learning has been applied to a number of creative, design-oriented tasks. However, it remains unclear how to best empower human users with these machine learning approaches, particularly those users without technical expertise. In this paper we propose a general framework for turn-based interaction between human users and AI agents designed to support human creativity, called {co-creative systems}. The framework can be used to better understand the space of possible designs of co-creative systems and reveal future research directions. We demonstrate how to apply this framework in conjunction with a pair of recent human subject studies, comparing between the four human-AI systems employed in these studies and generating hypotheses towards future studies.

In this paper, we propose a distributed off-policy actor critic method to solve multi-agent reinforcement learning problems. Specifically, we assume that all agents keep local estimates of the global optimal policy parameter and update their local value function estimates independently. Then, we introduce an additional consensus step to let all the agents asymptotically achieve agreement on the global optimal policy function. The convergence analysis of the proposed algorithm is provided and the effectiveness of the proposed algorithm is validated using a distributed resource allocation example. Compared to relevant distributed actor critic methods, here the agents do not share information about their local tasks, but instead they coordinate to estimate the global policy function.

The paper is a half-way between the agent technology and the mathematical reasoning to model tactical decision making tasks. These models are applied to air defense (AD) domain for command and control (C2). It also addresses the issues related to evaluation of agents. The agents are designed and implemented using the agent-programming paradigm. The agents are deployed in an air combat simulated environment for performing the tasks of C2 like electronic counter counter measures, threat assessment, and weapon allocation. The simulated AD system runs without any human intervention, and represents state-of-the-art model for C2 autonomy. The use of agents as autonomous decision making entities is particularly useful in view of futuristic network centric warfare.

The rise of non-linear and interactive media such as video games has increased the need for automatic movement animation generation. In this survey, we review and analyze different aspects of building automatic movement generation systems using machine learning techniques and motion capture data. We cover topics such as high-level movement characterization, training data, features representation, machine learning models, and evaluation methods. We conclude by presenting a discussion of the reviewed literature and outlining the research gaps and remaining challenges for future work.

The past few years have seen several works establishing PAC frameworks for solving various problems in economic domains; these include optimal auction design, approximate optima of submodular functions, stable partitions and payoff divisions in cooperative games and more. In this work, we provide a unified learning-theoretic methodology for modeling these problems, and establish some useful tools for determining whether a given economic solution concept can be learned from data. Our learning theoretic framework generalizes a notion of function space dimension --- the graph dimension --- adapting it to the solution concept learning domain. We identify sufficient conditions for the PAC learnability of solution concepts, and show that results in existing works can be immediately derived using our general methodology. Finally, we apply our methods in other economic domains, yielding a novel notion of PAC competitive equilibrium and PAC Condorcet winners.