Autonomous robotic search has important applications in robotics, such as the search for signs of life after a disaster. When \emph{a priori} information is available, for example in the form of a distribution, a planner can use that distribution to guide the search. Ergodic search is one method that uses the information distribution to generate a trajectory that minimizes the ergodic metric, in that it encourages the robot to spend more time in regions with high information and proportionally less time in the remaining regions. Unfortunately, prior works in ergodic search do not perform well in complex environments with obstacles such as a building's interior or a maze. To address this, our work presents a modified ergodic metric using the Laplace-Beltrami eigenfunctions to capture map geometry and obstacle locations within the ergodic metric. Further, we introduce an approach to generate trajectories that minimize the ergodic metric while guaranteeing obstacle avoidance using measure-preserving vector fields. Finally, we leverage the divergence-free nature of these vector fields to generate collision-free trajectories for multiple agents. We demonstrate our approach via simulations with single and multi-agent systems on maps representing interior hallways and long corridors with non-uniform information distribution. In particular, we illustrate the generation of feasible trajectories in complex environments where prior methods fail.

Large language models (LLMs) show remarkable potential to act as computer agents, enhancing human productivity and software accessibility in multi-modal tasks that require planning and reasoning. However, measuring agent performance in realistic environments remains a challenge since: (i) most benchmarks are limited to specific modalities or domains (e.g. text-only, web navigation, Q&A, coding) and (ii) full benchmark evaluations are slow (on order of magnitude of days) given the multi-step sequential nature of tasks. To address these challenges, we introduce the Windows Agent Arena: a reproducible, general environment focusing exclusively on the Windows operating system (OS) where agents can operate freely within a real Windows OS and use the same wide range of applications, tools, and web browsers available to human users when solving tasks. We adapt the OSWorld framework (Xie et al., 2024) to create 150+ diverse Windows tasks across representative domains that require agent abilities in planning, screen understanding, and tool usage. Our benchmark is scalable and can be seamlessly parallelized in Azure for a full benchmark evaluation in as little as 20 minutes. To demonstrate Windows Agent Arena's capabilities, we also introduce a new multi-modal agent, Navi. Our agent achieves a success rate of 19.5% in the Windows domain, compared to 74.5% performance of an unassisted human. Navi also demonstrates strong performance on another popular web-based benchmark, Mind2Web. We offer extensive quantitative and qualitative analysis of Navi's performance, and provide insights into the opportunities for future research in agent development and data generation using Windows Agent Arena. Webpage: https://microsoft.github.io/WindowsAgentArena Code: https://github.com/microsoft/WindowsAgentArena

Zero-shot coordination (ZSC) is a significant challenge in multi-agent collaboration, aiming to develop agents that can coordinate with unseen partners they have not encountered before. Recent cutting-edge ZSC methods have primarily focused on two-player video games such as OverCooked!2 and Hanabi. In this paper, we extend the scope of ZSC research to the multi-drone cooperative pursuit scenario, exploring how to construct a drone agent capable of coordinating with multiple unseen partners to capture multiple evaders. We propose a novel Hypergraphic Open-ended Learning Algorithm (HOLA-Drone) that continuously adapts the learning objective based on our hypergraphic-form game modeling, aiming to improve cooperative abilities with multiple unknown drone teammates. To empirically verify the effectiveness of HOLA-Drone, we build two different unseen drone teammate pools to evaluate their performance in coordination with various unseen partners. The experimental results demonstrate that HOLA-Drone outperforms the baseline methods in coordination with unseen drone teammates. Furthermore, real-world experiments validate the feasibility of HOLA-Drone in physical systems. Videos can be found on the project homepage~\url{https://sites.google.com/view/hola-drone}.

Theory of Mind (ToM) significantly impacts human collaboration and communication as a crucial capability to understand others. When AI agents with ToM capability collaborate with humans, Mutual Theory of Mind (MToM) arises in such human-AI teams (HATs). The MToM process, which involves interactive communication and ToM-based strategy adjustment, affects the team's performance and collaboration process. To explore the MToM process, we conducted a mixed-design experiment using a large language model-driven AI agent with ToM and communication modules in a real-time shared-workspace task. We find that the agent's ToM capability does not significantly impact team performance but enhances human understanding of the agent and the feeling of being understood. Most participants in our study believe verbal communication increases human burden, and the results show that bidirectional communication leads to lower HAT performance. We discuss the results' implications for designing AI agents that collaborate with humans in real-time shared workspace tasks.

AI agents, specifically powered by large language models, have demonstrated exceptional capabilities in various applications where precision and efficacy are necessary. However, these agents come with inherent risks, including the potential for unsafe or biased actions, vulnerability to adversarial attacks, lack of transparency, and tendency to generate hallucinations. As AI agents become more prevalent in critical sectors of the industry, the implementation of effective safety protocols becomes increasingly important. This paper addresses the critical need for safety measures in AI systems, especially ones that collaborate with human teams. We propose and evaluate three frameworks to enhance safety protocols in AI agent systems: an LLM-powered input-output filter, a safety agent integrated within the system, and a hierarchical delegation-based system with embedded safety checks. Our methodology involves implementing these frameworks and testing them against a set of unsafe agentic use cases, providing a comprehensive evaluation of their effectiveness in mitigating risks associated with AI agent deployment. We conclude that these frameworks can significantly strengthen the safety and security of AI agent systems, minimizing potential harmful actions or outputs. Our work contributes to the ongoing effort to create safe and reliable AI applications, particularly in automated operations, and provides a foundation for developing robust guardrails to ensure the responsible use of AI agents in real-world applications.

We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our approach transforms the problem of time-varying topology estimation into a problem of estimating the time-varying weights of a complete graph, utilizing an edge-agreement framework. We introduce two auxiliary networks: one that satisfies the persistent excitation condition to facilitate topology estimation, while the other, a uniform-$\delta$ persistently exciting network, ensures the boundedness of both weight estimation and synchronization errors, assuming bounded time-varying weights and their derivatives. A relevant numerical example shows the efficiency of our methods.

To evaluate the safety and usefulness of deployment protocols for untrusted AIs, AI Control uses a red-teaming exercise played between a protocol designer and an adversary. This paper introduces AI-Control Games, a formal decision-making model of the red-teaming exercise as a multi-objective, partially observable, stochastic game. We also introduce methods for finding optimal protocols in AI-Control Games, by reducing them to a set of zero-sum partially observable stochastic games. We apply our formalism to model, evaluate and synthesise protocols for deploying untrusted language models as programming assistants, focusing on Trusted Monitoring protocols, which use weaker language models and limited human assistance. Finally, we demonstrate the utility of our formalism by showcasing improvements over empirical studies in existing settings, evaluating protocols in new settings, and analysing how modelling assumptions affect the safety and usefulness of protocols.

Recent studies have shown that cooperative multi-agent deep reinforcement learning (c-MADRL) is under the threat of backdoor attacks. Once a backdoor trigger is observed, it will perform abnormal actions leading to failures or malicious goals. However, existing proposed backdoors suffer from several issues, e.g., fixed visual trigger patterns lack stealthiness, the backdoor is trained or activated by an additional network, or all agents are backdoored. To this end, in this paper, we propose a novel backdoor attack against c-MADRL, which attacks the entire multi-agent team by embedding the backdoor only in a single agent. Firstly, we introduce adversary spatiotemporal behavior patterns as the backdoor trigger rather than manual-injected fixed visual patterns or instant status and control the attack duration. This method can guarantee the stealthiness and practicality of injected backdoors. Secondly, we hack the original reward function of the backdoored agent via reward reverse and unilateral guidance during training to ensure its adverse influence on the entire team. We evaluate our backdoor attacks on two classic c-MADRL algorithms VDN and QMIX, in a popular c-MADRL environment SMAC. The experimental results demonstrate that our backdoor attacks are able to reach a high attack success rate (91.6\%) while maintaining a low clean performance variance rate (3.7\%).

Graph path search is a classic computer science problem that has been recently approached with Reinforcement Learning (RL) due to its potential to outperform prior methods. Existing RL techniques typically assume a global view of the network, which is not suitable for large-scale, dynamic, and privacy-sensitive settings. An area of particular interest is search in social networks due to its numerous applications. Inspired by seminal work in experimental sociology, which showed that decentralized yet efficient search is possible in social networks, we frame the problem as a collaborative task between multiple agents equipped with a limited local view of the network. We propose a multi-agent approach for graph path search that successfully leverages both homophily and structural heterogeneity. Our experiments, carried out over synthetic and real-world social networks, demonstrate that our model significantly outperforms learned and heuristic baselines. Furthermore, our results show that meaningful embeddings for graph navigation can be constructed using reward-driven learning.

Knowledge tagging for questions is vital in modern intelligent educational applications, including learning progress diagnosis, practice question recommendations, and course content organization. Traditionally, these annotations have been performed by pedagogical experts, as the task demands not only a deep semantic understanding of question stems and knowledge definitions but also a strong ability to link problem-solving logic with relevant knowledge concepts. With the advent of advanced natural language processing (NLP) algorithms, such as pre-trained language models and large language models (LLMs), pioneering studies have explored automating the knowledge tagging process using various machine learning models. In this paper, we investigate the use of a multi-agent system to address the limitations of previous algorithms, particularly in handling complex cases involving intricate knowledge definitions and strict numerical constraints. By demonstrating its superior performance on the publicly available math question knowledge tagging dataset, MathKnowCT, we highlight the significant potential of an LLM-based multi-agent system in overcoming the challenges that previous methods have encountered. Finally, through an in-depth discussion of the implications of automating knowledge tagging, we underscore the promising results of deploying LLM-based algorithms in educational contexts.