Ad hoc teamwork poses a challenging problem, requiring the design of an agent to collaborate with teammates without prior coordination or joint training. Open ad hoc teamwork (OAHT) further complicates this challenge by considering environments with a changing number of teammates, referred to as open teams. One promising solution in practice to this problem is leveraging the generalizability of graph neural networks to handle an unrestricted number of agents, named graph-based policy learning (GPL). However, its joint Q-value representation over a coordination graph lacks convincing explanations. In this paper, we establish a new theory to understand the joint Q-value representation for OAHT, from the perspective of cooperative game theory, and validate its learning paradigm. Building on our theory, we propose a novel algorithm named CIAO, compatible with GPL framework, with additional provable implementation tricks that can facilitate learning. The demos of experimental results are available on //sites.google.com/view/ciao2024, and the code of experiments is published on //github.com/hsvgbkhgbv/CIAO.
相關內容
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk when robots stay in adversary-impacted zones and (ii) the mission completion time. During traversal, robots can reduce their speed and act as a `guard' (the slower, the better), which will decrease the risks certain adversary incurs. This leads to a trade-off between the robots' guarding behaviors and their travel speeds. The formulated problem is highly non-convex and cannot be efficiently solved by existing algorithms. Our approach includes a theoretical analysis of the robots' behaviors for the single-adversary case. As the scale of the problem expands, solving the optimal solution using optimization approaches is challenging, therefore, we employ reinforcement learning techniques by developing new encoding and policy-generating methods. Simulations demonstrate that our learning methods can efficiently produce team coordination behaviors. We discuss the reasoning behind these behaviors and explain why they reduce the overall team cost.
Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. This paper presents a novel method for exploring unknown indoor spaces with a team of UAVs of different sizes and sensory equipment. We propose a frontier-based exploration with two task allocation strategies: a greedy strategy that assigns Points of Interest (POIs) based on Euclidean distance and UAV priority and an optimization strategy that solves a minimum-cost flow problem. The proposed method utilizes the SphereMap algorithm to assess the accessibility of the POIs and generate paths that account for obstacle distances, including collision avoidance maneuvers among UAVs. The proposed approach was validated through simulation testing and real-world experiments that evaluated the method's performance on board the UAVs.
Padding is often used in tuning LLM models by adding special tokens to shorter training examples to match the length of the longest sequence in each batch. While this ensures uniformity for batch processing, it introduces inefficiencies by including irrelevant padding tokens in the computation and wastes GPU resources. On the other hand, the Hugging Face SFT trainer offers the option to use packing to combine multiple training examples up to the maximum sequence length. This allows for maximal utilization of GPU resources. However, without proper masking of each packed training example, attention will not be computed correctly when using SFT trainer. We enable and then analyse packing and Flash Attention with proper attention masking of each example and show the benefits of this training paradigm.
Pre-trained large language models (LLMs) can now be easily adapted for specific business purposes using custom prompts or fine tuning. These customizations are often iteratively re-engineered to improve some aspect of performance, but after each change businesses want to ensure that there has been no negative impact on the system's behavior around such critical issues as bias. Prior methods of benchmarking bias use techniques such as word masking and multiple choice questions to assess bias at scale, but these do not capture all of the nuanced types of bias that can occur in free response answers, the types of answers typically generated by LLM systems. In this paper, we identify several kinds of nuanced bias in free text that cannot be similarly identified by multiple choice tests. We describe these as: confidence bias, implied bias, inclusion bias and erasure bias. We present a semi-automated pipeline for detecting these types of bias by first eliminating answers that can be automatically classified as unbiased and then co-evaluating name reversed pairs using crowd workers. We believe that the nuanced classifications our method generates can be used to give better feedback to LLMs, especially as LLM reasoning capabilities become more advanced.
Heterogeneous Face Recognition (HFR) systems aim to enhance the capability of face recognition in challenging cross-modal authentication scenarios. However, the significant domain gap between the source and target modalities poses a considerable challenge for cross-domain matching. Existing literature primarily focuses on developing HFR approaches for specific pairs of face modalities, necessitating the explicit training of models for each source-target combination. In this work, we introduce a novel framework designed to train a modality-agnostic HFR method capable of handling multiple modalities during inference, all without explicit knowledge of the target modality labels. We achieve this by implementing a computationally efficient automatic routing mechanism called Switch Style Modulation Blocks (SSMB) that trains various domain expert modulators which transform the feature maps adaptively reducing the domain gap. Our proposed SSMB can be trained end-to-end and seamlessly integrated into pre-trained face recognition models, transforming them into modality-agnostic HFR models. We have performed extensive evaluations on HFR benchmark datasets to demonstrate its effectiveness. The source code and protocols will be made publicly available.
Language models (LMs) derive their capabilities from extensive training on diverse data, including potentially copyrighted material. These models can memorize and generate content similar to their training data, posing potential concerns. Therefore, model creators are motivated to develop mitigation methods that prevent generating protected content. We term this procedure as copyright takedowns for LMs, noting the conceptual similarity to (but legal distinction from) the DMCA takedown This paper introduces the first evaluation of the feasibility and side effects of copyright takedowns for LMs. We propose CoTaEval, an evaluation framework to assess the effectiveness of copyright takedown methods, the impact on the model's ability to retain uncopyrightable factual knowledge from the training data whose recitation is embargoed, and how well the model maintains its general utility and efficiency. We examine several strategies, including adding system prompts, decoding-time filtering interventions, and unlearning approaches. Our findings indicate that no tested method excels across all metrics, showing significant room for research in this unique problem setting and indicating potential unresolved challenges for live policy proposals.
Practical mechanisms often limit agent reports to constrained formats like trades or orderings, potentially limiting the information agents can express. We propose a novel class of mechanisms that elicit agent reports in natural language and leverage the world-modeling capabilities of large language models (LLMs) to select outcomes and assign payoffs. We identify sufficient conditions for these mechanisms to be incentive-compatible and efficient as the LLM being a good enough world model and a strong inter-agent information over-determination condition. We show situations where these LM-based mechanisms can successfully aggregate information in signal structures on which prediction markets fail.
This paper addresses the item ranking problem with associate covariates, focusing on scenarios where the preference scores can not be fully explained by covariates, and the remaining intrinsic scores, are sparse. Specifically, we extend the pioneering Bradley-Terry-Luce (BTL) model by incorporating covariate information and considering sparse individual intrinsic scores. Our work introduces novel model identification conditions and examines the regularized penalized Maximum Likelihood Estimator (MLE) statistical rates. We then construct a debiased estimator for the penalized MLE and analyze its distributional properties. Additionally, we apply our method to the goodness-of-fit test for models with no latent intrinsic scores, namely, the covariates fully explaining the preference scores of individual items. We also offer confidence intervals for ranks. Our numerical studies lend further support to our theoretical findings, demonstrating validation for our proposed method
Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.
Automatic KB completion for commonsense knowledge graphs (e.g., ATOMIC and ConceptNet) poses unique challenges compared to the much studied conventional knowledge bases (e.g., Freebase). Commonsense knowledge graphs use free-form text to represent nodes, resulting in orders of magnitude more nodes compared to conventional KBs (18x more nodes in ATOMIC compared to Freebase (FB15K-237)). Importantly, this implies significantly sparser graph structures - a major challenge for existing KB completion methods that assume densely connected graphs over a relatively smaller set of nodes. In this paper, we present novel KB completion models that can address these challenges by exploiting the structural and semantic context of nodes. Specifically, we investigate two key ideas: (1) learning from local graph structure, using graph convolutional networks and automatic graph densification and (2) transfer learning from pre-trained language models to knowledge graphs for enhanced contextual representation of knowledge. We describe our method to incorporate information from both these sources in a joint model and provide the first empirical results for KB completion on ATOMIC and evaluation with ranking metrics on ConceptNet. Our results demonstrate the effectiveness of language model representations in boosting link prediction performance and the advantages of learning from local graph structure (+1.5 points in MRR for ConceptNet) when training on subgraphs for computational efficiency. Further analysis on model predictions shines light on the types of commonsense knowledge that language models capture well.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191