In recent years, Large Language Models (LLMs) have demonstrated remarkable capabilities across diverse NLP tasks. Extensive research has explored how to enhance the logical reasoning abilities such as Chain-of-Thought, Chain-of-Thought with Self-Consistency, Tree-Of-Thoughts, and multi-agent debates. In the context of multi-agent debates, significant performance improvements can be achieved with an increasing number of agents and debate rounds. However, the escalation in the number of agents and debate rounds can drastically raise the tokens cost of debates, thereby limiting the scalability of the multi-agent debate technique. To better harness the advantages of multi-agent debates in logical reasoning tasks, this paper proposes a method to significantly reduce token cost in multi-agent debates. This approach involves dividing all agents into multiple debate groups, with agents engaging in debates within their respective groups and sharing interim debate results between groups. Comparative experiments across multiple datasets have demonstrated that this method can reduce the total tokens by up to 51.7% during debates and while potentially enhancing accuracy by as much as 25%. Our method significantly enhances the performance and efficiency of interactions in the multi-agent debate.

In recent years, the e-commerce industry has seen a rapid increase in the demand for advanced AI-driven customer service solutions. Traditional cloud-based models face limitations in terms of latency, personalized services, and privacy concerns. Furthermore, end devices often lack the computational resources to deploy large AI models effectively. In this paper, we propose an innovative End-Cloud Collaboration (ECC) framework for advanced AI customer service in e-commerce. This framework integrates the advantages of large cloud models and mid/small-sized end models by deeply exploring the generalization potential of cloud models and effectively utilizing the computing power resources of terminal chips, alleviating the strain on computing resources to some extent. Specifically, the large cloud model acts as a teacher, guiding and promoting the learning of the end model, which significantly reduces the end model's reliance on large-scale, high-quality data and thereby addresses the data bottleneck in traditional end model training, offering a new paradigm for the rapid deployment of industry applications. Additionally, we introduce an online evolutive learning strategy that enables the end model to continuously iterate and upgrade based on guidance from the cloud model and real-time user feedback. This strategy ensures that the model can flexibly adapt to the rapid changes in application scenarios while avoiding the uploading of sensitive information by performing local fine-tuning, achieving the dual goals of privacy protection and personalized service. %We make systematic contributions to the customized model fine-tuning methods in the e-commerce domain. To conclude, we implement in-depth corpus collection (e.g., data organization, cleaning, and preprocessing) and train an ECC-based industry-specific model for e-commerce customer service.

While robust optimal control theory provides a rigorous framework to compute robot control policies that are provably safe, it struggles to scale to high-dimensional problems, leading to increased use of deep learning for tractable synthesis of robot safety. Unfortunately, existing neural safety synthesis methods often lack convergence guarantees and solution interpretability. In this paper, we present Minimax Actors Guided by Implicit Critic Stackelberg (MAGICS), a novel adversarial reinforcement learning (RL) algorithm that guarantees local convergence to a minimax equilibrium solution. We then build on this approach to provide local convergence guarantees for a general deep RL-based robot safety synthesis algorithm. Through both simulation studies on OpenAI Gym environments and hardware experiments with a 36-dimensional quadruped robot, we show that MAGICS can yield robust control policies outperforming the state-of-the-art neural safety synthesis methods.

Task allocation in multi-human multi-robot (MH-MR) teams presents significant challenges due to the inherent heterogeneity of team members, the dynamics of task execution, and the information uncertainty of operational states. Existing approaches often fail to address these challenges simultaneously, resulting in suboptimal performance. To tackle this, we propose ATA-HRL, an adaptive task allocation framework using hierarchical reinforcement learning (HRL), which incorporates initial task allocation (ITA) that leverages team heterogeneity and conditional task reallocation in response to dynamic operational states. Additionally, we introduce an auxiliary state representation learning task to manage information uncertainty and enhance task execution. Through an extensive case study in large-scale environmental monitoring tasks, we demonstrate the benefits of our approach.

Imitation learning enables robots to learn new tasks from human examples. One current fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and extraneous information: for instance, a robot's camera might see not only the intended goal, but also clutter and changes in lighting within its environment. Because the robot does not know which aspects of its observations are important a priori, it often misinterprets the human's examples and fails to learn the desired task. To address this issue, we highlight that -- while the robot learner may not know what to focus on -- the human teacher does. In this paper we propose that the human proactively marks key parts of their task with small, lightweight beacons. Under our framework the human attaches these beacons to task-relevant objects before providing demonstrations: as the human shows examples of the task, beacons track the position of marked objects. We then harness this offline beacon data to train a task-relevant state embedding. Specifically, we embed the robot's observations to a latent state that is correlated with the measured beacon readings: in practice, this causes the robot to autonomously filter out extraneous observations and make decisions based on features learned from the beacon data. Our simulations and a real robot experiment suggest that this framework for human-placed beacons mitigates causal confusion and enables robots to learn the desired task from fewer demonstrations. See videos here: https://youtu.be/oy85xJvtLSU

As large language models (LLMs) advance, their potential applications have grown significantly. However, it remains difficult to evaluate LLM behavior on user-specific tasks and craft effective pipelines to do so. Many users struggle with where to start, often referred to as the "blank page" problem. ChainBuddy, an AI assistant for generating evaluative LLM pipelines built into the ChainForge platform, aims to tackle this issue. ChainBuddy offers a straightforward and user-friendly way to plan and evaluate LLM behavior, making the process less daunting and more accessible across a wide range of possible tasks and use cases. We report a within-subjects user study comparing ChainBuddy to the baseline interface. We find that when using AI assistance, participants reported a less demanding workload and felt more confident setting up evaluation pipelines of LLM behavior. We derive insights for the future of interfaces that assist users in the open-ended evaluation of AI.

Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to address the complexities of human-robot interaction and socially-aware path planning. NaviDIFF integrates a port-Hamiltonian framework to model dynamic physical interactions and a diffusion model to manage uncertainty in human-robot cooperation. The framework leverages a spatial-temporal transformer to capture social and temporal dependencies, enabling more accurate pedestrian strategy predictions and port-Hamiltonian dynamics construction. Additionally, reinforcement learning from human feedback is employed to fine-tune robot policies, ensuring adaptation to human preferences and social norms. Extensive experiments demonstrate that NaviDIFF outperforms state-of-the-art methods in social navigation tasks, offering improved stability, efficiency, and adaptability.

Real-time dynamic scheduling is a crucial but notoriously challenging task in modern manufacturing processes due to its high decision complexity. Recently, reinforcement learning (RL) has been gaining attention as an impactful technique to handle this challenge. However, classical RL methods typically rely on human-made dispatching rules, which are not suitable for large-scale factory-wide scheduling. To bridge this gap, this paper applies a leader-follower multi-agent RL (MARL) concept to obtain desired coordination after decomposing the scheduling problem into a set of sub-problems that are handled by each individual agent for scalability. We further strengthen the procedure by proposing a rule-based conversion algorithm to prevent catastrophic loss of production capacity due to an agent's error. Our experimental results demonstrate that the proposed model outperforms the state-of-the-art deep RL-based scheduling models in various aspects. Additionally, the proposed model provides the most robust scheduling performance to demand changes. Overall, the proposed MARL-based scheduling model presents a promising solution to the real-time scheduling problem, with potential applications in various manufacturing industries.

A human interacting with a robot often forms predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car is going to remain in the same lane. It is important for the robot to understand the human's prediction for safe and seamless interaction: e.g., if the autonomous car knows the human thinks it is not merging -- but the autonomous car actually intends to merge -- then the car can adjust its behavior to prevent an accident. Prior works typically assume that humans make precise predictions of robot behavior. However, recent research on human-human prediction suggests the opposite: humans tend to approximate other agents by predicting their high-level behaviors. We apply this finding to develop a second-order theory of mind approach that enables robots to estimate how humans predict they will behave. To extract these high-level predictions directly from data, we embed the recent human and robot trajectories into a discrete latent space. Each element of this latent space captures a different type of behavior (e.g., merging in front of the human, remaining in the same lane) and decodes into a vector field across the state space that is consistent with the underlying behavior type. We hypothesize that our resulting high-level and course predictions of robot behavior will correspond to actual human predictions. We provide initial evidence in support of this hypothesis through a proof-of-concept user study.

LASTIC pollution in rivers has become a pressing global issue, with 11 million tons of plastic waste entering the ocean annually, 80% of which is caused by 1,000 major polluting rivers [1]. To address this problem, it is desired to develop a solution capable of removing plastic and other waste objects without interfering with the existing flora and fauna essential to river ecosystems [2] . Our Autonomous River Cleanup (ARC) project, initiated in 2019, leverages robotics and automation to remove plastic waste from rivers. In order to increase the capacity at which this can be done, we enhance the existing single arm sorting station [3] with additional robot arms. For multiple robot agents to efficiently sort waste on a conveyor belt, we develop and evaluate novel strategy algorithms using reinforcement learning that assign pick-and-place (PnP) tasks to the respective robot agents (Figure 1). Given a set of objects on the moving conveyor belt, the robot agents are tasked with removing waste objects, whilst bio-matter is ignored and collected at the end of the belt. The challenge is to allocate each robot optimally with PnP operations for objects within its reachable workspace.