David Rother, Franziska Herbert, Fabian Kalter, Dorothea Koert, Joni Pajarinen, Jan Peters, Thomas H. Weisswange
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引用次数: 0
Abstract
Research on multi-agent interaction involving humans is still in its infancy. Most approaches have focused on environments with collaborative human behavior or a small, defined set of situations. When deploying robots in human-inhabited environments in the future, the diversity of interactions surpasses the capabilities of pre-trained collaboration models. ”Coexistence” environments, characterized by agents with varying or partially aligned objectives, present a unique challenge for robotic collaboration. Traditional reinforcement learning methods fall short in these settings. These approaches lack the flexibility to adapt to changing agent counts or task requirements without undergoing retraining. Moreover, existing models do not adequately support scenarios where robots should exhibit helpful behavior toward others without compromising their primary goals. To tackle this issue, we introduce a novel framework that decomposes interaction and task-solving into separate learning problems and blends the resulting policies at inference time using a goal inference model for task estimation. We create impact-aware agents and linearly scale the cost of training agents with the number of agents and available tasks. To this end, a weighting function blending action distributions for individual interactions with the original task action distribution is proposed. To support our claims we demonstrate that our framework scales in task and agent count across several environments and considers collaboration opportunities when present. The new learning paradigm opens the path to more complex multi-robot, multi-human interactions.
期刊介绍:
This is the official journal of the International Foundation for Autonomous Agents and Multi-Agent Systems. It provides a leading forum for disseminating significant original research results in the foundations, theory, development, analysis, and applications of autonomous agents and multi-agent systems. Coverage in Autonomous Agents and Multi-Agent Systems includes, but is not limited to:
Agent decision-making architectures and their evaluation, including: cognitive models; knowledge representation; logics for agency; ontological reasoning; planning (single and multi-agent); reasoning (single and multi-agent)
Cooperation and teamwork, including: distributed problem solving; human-robot/agent interaction; multi-user/multi-virtual-agent interaction; coalition formation; coordination
Agent communication languages, including: their semantics, pragmatics, and implementation; agent communication protocols and conversations; agent commitments; speech act theory
Ontologies for agent systems, agents and the semantic web, agents and semantic web services, Grid-based systems, and service-oriented computing
Agent societies and societal issues, including: artificial social systems; environments, organizations and institutions; ethical and legal issues; privacy, safety and security; trust, reliability and reputation
Agent-based system development, including: agent development techniques, tools and environments; agent programming languages; agent specification or validation languages
Agent-based simulation, including: emergent behavior; participatory simulation; simulation techniques, tools and environments; social simulation
Agreement technologies, including: argumentation; collective decision making; judgment aggregation and belief merging; negotiation; norms
Economic paradigms, including: auction and mechanism design; bargaining and negotiation; economically-motivated agents; game theory (cooperative and non-cooperative); social choice and voting
Learning agents, including: computational architectures for learning agents; evolution, adaptation; multi-agent learning.
Robotic agents, including: integrated perception, cognition, and action; cognitive robotics; robot planning (including action and motion planning); multi-robot systems.
Virtual agents, including: agents in games and virtual environments; companion and coaching agents; modeling personality, emotions; multimodal interaction; verbal and non-verbal expressiveness
Significant, novel applications of agent technology
Comprehensive reviews and authoritative tutorials of research and practice in agent systems
Comprehensive and authoritative reviews of books dealing with agents and multi-agent systems.