Inotherp(ost | st) 1(ost = (st)) where 1 indicator introduce 2 (0,1]. Message Reception Rate Reward Normal Perfect Naive - 1.0 Scaled - 0.99 Noisy - 5.0 Chanceof Random Suggestions Reward Normal Perfect Random Naive - 1.0 Naive - 0.25 Scaled - 0.99 Scaled - 0.25 Noisy - 5.0 Noisy - 1.0 Chanceof R...

The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate human oversight of the autonomous systems and rely on the human to take control when the autonomy fails. In this work, we formulate a method of collaborative decision making through action suggestions that improves action selection without taking control of the system. Our approach uses each suggestion efficiently by incorporating the implicit information shared through suggestions to modify the agent's belief and achieves better performance with fewer suggestions than naively following the suggested actions. We assume collaborative agents share the same objective and communicate through valid actions. By assuming the suggested action is dependent only on the state, we can incorporate the suggested action as an independent observation of the environment. The assumption of a collaborative environment enables us to use the agent's policy to estimate the distribution over action suggestions. We propose two methods that use suggested actions and demonstrate the approach through simulated experiments. The proposed methodology results in increased performance while also being robust to suboptimal suggestions.

The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate human oversight of the autonomous systems and rely on the human to take control when the autonomy fails. In this work, we formulate a method of collaborative decision making through action suggestions that improves action selection without taking control of the system. Our approach uses each suggestion efficiently by incorporating the implicit information shared through suggestions to modify the agent's belief and achieves better performance with fewer suggestions than naively following the suggested actions. We assume collaborative agents share the same objective and communicate through valid actions.

Decentralized partially observable Markov decision processes with communication (Dec-POMDP-Com) provide a framework for multiagent decision making under uncertainty, but the NEXP-complete complexity renders solutions intractable in general. While sharing actions and observations can reduce the complexity to PSPACE-complete, we propose an approach that bridges POMDPs and Dec-POMDPs by communicating only suggested joint actions, eliminating the need to share observations while maintaining performance comparable to fully centralized planning and execution. Our algorithm estimates joint beliefs using shared actions to prune infeasible beliefs. Each agent maintains possible belief sets for other agents, pruning them based on suggested actions to form an estimated joint belief usable with any centralized policy. This approach requires solving a POMDP for each agent, reducing computational complexity while preserving performance. We demonstrate its effectiveness on several Dec-POMDP benchmarks showing performance comparable to centralized methods when shared actions enable effective belief pruning. This action-based communication framework offers a natural avenue for integrating human-agent cooperation, opening new directions for scalable multiagent planning under uncertainty, with applications in both autonomous systems and human-agent teams.

The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate human oversight of the autonomous systems and rely on the human to take control when the autonomy fails. In this work, we formulate a method of collaborative decision making through action suggestions that improves action selection without taking control of the system. Our approach uses each suggestion efficiently by incorporating the implicit information shared through suggestions to modify the agent's belief and achieves better performance with fewer suggestions than naively following the suggested actions. We assume collaborative agents share the same objective and communicate through valid actions. By assuming the suggested action is dependent only on the state, we can incorporate the suggested action as an independent observation of the environment. The assumption of a collaborative environment enables us to use the agent's policy to estimate the distribution over action suggestions. We propose two methods that use suggested actions and demonstrate the approach through simulated experiments. The proposed methodology results in increased performance while also being robust to suboptimal suggestions.

We describe a method to use discrete human feedback to enhance the performance of deep learning agents in virtual three-dimensional environments by extending deep-reinforcement learning to model the confidence and consistency of human feedback. This enables deep reinforcement learning algorithms to determine the most appropriate time to listen to the human feedback, exploit the current policy model, or explore the agent's environment. Managing the trade-off between these three strategies allows DRL agents to be robust to inconsistent or intermittent human feedback. Through experimentation using a synthetic oracle, we show that our technique improves the training speed and overall performance of deep reinforcement learning in navigating three-dimensional environments using Minecraft. We further show that our technique is robust to highly innacurate human feedback and can also operate when no human feedback is given.

Reinforcement learning is a powerful machine learning paradigm that allows agents to autonomously learn to maximize a scalar reward. However, it often suffers from poor initial performance and long learning times. This paper discusses how collecting online human feedback, both in real time and post hoc, can potentially improve the performance of such learning systems. We use the game Pac-Man to simulate a navigation setting and show that workers are able to accurately identify both when a sub-optimal action is executed, and what action should have been performed instead. Our results demonstrate that the crowd is capable of generating helpful input. We conclude with a discussion the types of errors that occur most commonly when engaging human workers for this task, and a discussion of how such data could be used to improve learning. Our work serves as a critical first step in designing systems that use real-time human feedback to improve the learning performance of automated systems on-the-fly. Figure 1: This screenshot shows the web interface of the user study with game layout, and components of the Pac-Man game: 1) Pac-Man, 2) 4 Ghosts, 3) Pills, and 4) Power Pills.