Many works in the domain of artificial intelligence in games focus on board or video games due to the ease of reimplementing their mechanics. Decision-making problems in real-world sports share many similarities to such domains. Nevertheless, not many frameworks on sports games exist. In this paper, we present the tennis match simulation environment \textit{Match Point AI}, in which different agents can compete against real-world data-driven bot strategies. Next to presenting the framework, we highlight its capabilities by illustrating, how MCTS can be used in Match Point AI to optimize the shot direction selection problem in tennis. While the framework will be extended in the future, first experiments already reveal that generated shot-by-shot data of simulated tennis matches show realistic characteristics when compared to real-world data. At the same time, reasonable shot placement strategies emerge, which share similarities to the ones found in real-world tennis matches.

This article describes a novel game structure for autonomously optimizing decentralized manufacturing systems with multi-objective optimization challenges, namely Distributed Stackelberg Strategies in State-Based Potential Games (DS2-SbPG). DS2-SbPG integrates potential games and Stackelberg games, which improves the cooperative trade-off capabilities of potential games and the multi-objective optimization handling by Stackelberg games. Notably, all training procedures remain conducted in a fully distributed manner. DS2-SbPG offers a promising solution to finding optimal trade-offs between objectives by eliminating the complexities of setting up combined objective optimization functions for individual players in self-learning domains, particularly in real-world industrial settings with diverse and numerous objectives between the sub-systems. We further prove that DS2-SbPG constitutes a dynamic potential game that results in corresponding converge guarantees. Experimental validation conducted on a laboratory-scale testbed highlights the efficacy of DS2-SbPG and its two variants, such as DS2-SbPG for single-leader-follower and Stack DS2-SbPG for multi-leader-follower. The results show significant reductions in power consumption and improvements in overall performance, which signals the potential of DS2-SbPG in real-world applications.

In Zero-Shot ObjectNav, an embodied ground agent is expected to navigate to a target object specified by a natural language label without any environment-specific fine-tuning. This is challenging, given the limited view of a ground agent and its independent exploratory behavior. To address these issues, we consider an assistive overhead agent with a bounded global view alongside the ground agent and present two coordinated navigation schemes for judicious exploration. We establish the influence of the Generative Communication (GC) between the embodied agents equipped with Vision-Language Models (VLMs) in improving zero-shot ObjectNav, achieving a 10% improvement in the ground agent's ability to find the target object in comparison with an unassisted setup in simulation. We further analyze the GC for unique traits quantifying the presence of hallucination and cooperation. In particular, we identify a unique trait of "preemptive hallucination" specific to our embodied setting, where the overhead agent assumes that the ground agent has executed an action in the dialogue when it is yet to move. Finally, we conduct real-world inferences with GC and showcase qualitative examples where countering pre-emptive hallucination via prompt finetuning improves real-world ObjectNav performance.

We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g., different action space, dynamics, size, shape, etc.). Learning reward functions that transfer across embodiments is important in settings such as teaching a robot a policy via human video demonstrations or teaching a robot to imitate a policy from another robot with a different embodiment. However, prior work has only focused on cases where near-optimal demonstrations are available, which is often difficult to ensure. By contrast, we study the setting of cross-embodiment reward learning from mixed-quality demonstrations. We demonstrate that prior work struggles to learn generalizable reward representations when learning from mixed-quality data. We then analyze several techniques that leverage human feedback for representation learning and alignment to enable effective cross-embodiment learning. Our results give insight into how different representation learning techniques lead to qualitatively different reward shaping behaviors and the importance of human feedback when learning from mixed-quality, mixed-embodiment data.

Nash equilibrium (NE) is a widely adopted solution concept in game theory due to its stability property. However, we observe that the NE strategy might not always yield the best results, especially against opponents who do not adhere to NE strategies. Based on this observation, we pose a new game-solving question: Can we learn a model that can exploit any, even NE, opponent to maximize their own utility? In this work, we make the first attempt to investigate this problem through in-context learning. Specifically, we introduce a novel method, In-Context Exploiter (ICE), to train a single model that can act as any player in the game and adaptively exploit opponents entirely by in-context learning. Our ICE algorithm involves generating diverse opponent strategies, collecting interactive history training data by a reinforcement learning algorithm, and training a transformer-based agent within a well-designed curriculum learning framework. Finally, comprehensive experimental results validate the effectiveness of our ICE algorithm, showcasing its in-context learning ability to exploit any unknown opponent, thereby positively answering our initial game-solving question.

Large Language Models (LLMs) and Visual Language Models (VLMs) are attracting increasing interest due to their improving performance and applications across various domains and tasks. However, LLMs and VLMs can produce erroneous results, especially when a deep understanding of the problem domain is required. For instance, when planning and perception are needed simultaneously, these models often struggle because of difficulties in merging multi-modal information. To address this issue, fine-tuned models are typically employed and trained on specialized data structures representing the environment. This approach has limited effectiveness, as it can overly complicate the context for processing. In this paper, we propose a multi-agent architecture for embodied task planning that operates without the need for specific data structures as input. Instead, it uses a single image of the environment, handling free-form domains by leveraging commonsense knowledge. We also introduce a novel, fully automatic evaluation procedure, PG2S, designed to better assess the quality of a plan. We validated our approach using the widely recognized ALFRED dataset, comparing PG2S to the existing KAS metric to further evaluate the quality of the generated plans.

Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level performance in competitive table tennis. Table tennis is a physically demanding sport which requires human players to undergo years of training to achieve an advanced level of proficiency. In this paper, we contribute (1) a hierarchical and modular policy architecture consisting of (i) low level controllers with their detailed skill descriptors which model the agent's capabilities and help to bridge the sim-to-real gap and (ii) a high level controller that chooses the low level skills, (2) techniques for enabling zero-shot sim-to-real including an iterative approach to defining the task distribution that is grounded in the real-world and defines an automatic curriculum, and (3) real time adaptation to unseen opponents. Policy performance was assessed through 29 robot vs. human matches of which the robot won 45% (13/29). All humans were unseen players and their skill level varied from beginner to tournament level. Whilst the robot lost all matches vs. the most advanced players it won 100% matches vs. beginners and 55% matches vs. intermediate players, demonstrating solidly amateur human-level performance. Videos of the matches can be viewed at https://sites.google.com/view/competitive-robot-table-tennis

Multi-Agent Path Finding (MAPF) is NP-hard to solve optimally, even on graphs, suggesting no polynomial-time algorithms can compute exact optimal solutions for them. This raises a natural question: How optimal can polynomial-time algorithms reach? Whereas algorithms for computing constant-factor optimal solutions have been developed, the constant factor is generally very large, limiting their application potential. In this work, among other breakthroughs, we propose the first low-polynomial-time MAPF algorithms delivering $1$-$1.5$ (resp., $1$-$1.67$) asymptotic makespan optimality guarantees for 2D (resp., 3D) grids for random instances at a very high $1/3$ agent density, with high probability. Moreover, when regularly distributed obstacles are introduced, our methods experience no performance degradation. These methods generalize to support $100\%$ agent density. Regardless of the dimensionality and density, our high-quality methods are enabled by a unique hierarchical integration of two key building blocks. At the higher level, we apply the labeled Grid Rearrangement Algorithm (RTA), capable of performing efficient reconfiguration on grids through row/column shuffles. At the lower level, we devise novel methods that efficiently simulate row/column shuffles returned by RTA. Our implementations of RTA-based algorithms are highly effective in extensive numerical evaluations, demonstrating excellent scalability compared to other SOTA methods. For example, in 3D settings, \rta-based algorithms readily scale to grids with over $370,000$ vertices and over $120,000$ agents and consistently achieve conservative makespan optimality approaching $1.5$, as predicted by our theoretical analysis.

Predictions often influence the reality which they aim to predict, an effect known as performativity. Existing work focuses on accuracy maximization under this effect, but model deployment may have important unintended impacts, especially in multiagent scenarios. In this work, we investigate performative prediction in a concrete game-theoretic setting where social welfare is an alternative objective to accuracy maximization. We explore a collective risk dilemma scenario where maximising accuracy can negatively impact social welfare, when predicting collective behaviours. By assuming knowledge of a Bayesian agent behavior model, we then show how to achieve better trade-offs and use them for mechanism design.

The implicit assumption that human and autonomous agents have certain capabilities is omnipresent in modern teaming concepts. However, none formalize these capabilities in a flexible and quantifiable way. In this paper, we propose Capability Deltas, which establish a quantifiable source to craft autonomous assistance systems in which one agent takes the leader and the other the supporter role. We deduct the quantification of human capabilities based on an established assessment and documentation procedure from occupational inclusion of people with disabilities. This allows us to quantify the delta, or gap, between a team's current capability and a requirement established by a work process. The concept is then extended to the multi-dimensional capability space, which then allows to formalize compensation behavior and assess required actions by the autonomous agent.