Information exchange in multi-agent systems improves the cooperation among agents, especially in partially observable settings. In the real world, communication is often carried out over imperfect channels. This requires agents to handle uncertainty due to potential information loss. In this paper, we consider a cooperative multi-agent system where the agents act and exchange information in a decentralized manner using a limited and unreliable channel. To cope with such channel constraints, we propose a novel communication approach based on independent Q-learning. Our method allows agents to dynamically adapt how much information to share by sending messages of different sizes, depending on their local observations and the channel's properties. In addition to this message size selection, agents learn to encode and decode messages to improve their jointly trained policies. We show that our approach outperforms approaches without adaptive capabilities in a novel cooperative digit-prediction environment and discuss its limitations in the traffic junction environment.
相關內容
《計算機信息》雜志發表高質量的論文，擴大了運籌學和計算的范圍，尋求有關理論、方法、實驗、系統和應用方面的原創研究論文、新穎的調查和教程論文，以及描述新的和有用的軟件工具的論文。官網鏈接： ·
控制器
·
離散化
·
Continuity
·
Single-Shot
·
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans to control the pose of a grasped object. This approach consists of a discrete pose estimator that uses the Viterbi decoding algorithm to find the most likely sequence of object poses in a coarsely discretized grid, and a continuous pose estimator-controller to refine the pose estimate and accurately manipulate the pose of the grasped object. Our method is tested on diverse objects and configurations, achieving desired manipulation objectives and outperforming single-shot methods in estimation accuracy. The proposed approach holds potential for tasks requiring precise manipulation in scenarios where visual perception is limited, laying the foundation for closed-loop behavior applications such as assembly and tool use. Please see supplementary videos for real-world demonstration at //sites.google.com/view/texterity.
Quantum low-density parity-check (QLDPC) codes are among the most promising candidates for future quantum error correction schemes. However, a limited number of short to moderate-length QLDPC codes have been designed and their decoding performance is sub-optimal with a quaternary belief propagation (BP) decoder due to unavoidable short cycles in their Tanner graphs. In this paper, we propose a novel joint code and decoder design for QLDPC codes. The constructed codes have a minimum distance of about the square root of the block length. In addition, it is, to the best of our knowledge, the first QLDPC code family where BP decoding is not impaired by short cycles of length 4. This is achieved by using an ensemble BP decoder mitigating the influence of assembled short cycles. We outline two code construction methods based on classical quasi-cyclic codes and finite geometry codes. Numerical results demonstrate outstanding decoding performance over depolarizing channels.
The security in networked systems depends greatly on recognizing and identifying adversarial behaviors. Traditional detection methods focus on specific categories of attacks and have become inadequate for increasingly stealthy and deceptive attacks that are designed to bypass detection strategically. This work aims to develop a holistic theory to countermeasure such evasive attacks. We focus on extending a fundamental class of statistical-based detection methods based on Neyman-Pearson's (NP) hypothesis testing formulation. We propose game-theoretic frameworks to capture the conflicting relationship between a strategic evasive attacker and an evasion-aware NP detector. By analyzing both the equilibrium behaviors of the attacker and the NP detector, we characterize their performance using Equilibrium Receiver-Operational-Characteristic (EROC) curves. We show that the evasion-aware NP detectors outperform the passive ones in the way that the former can act strategically against the attacker's behavior and adaptively modify their decision rules based on the received messages. In addition, we extend our framework to a sequential setting where the user sends out identically distributed messages. We corroborate the analytical results with a case study of anomaly detection.
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle occlusion, and uncoordinated swarm motion persist in real-world scenarios, potentially leading to erroneous state estimation and undermining the system's flexibility, practicality, and robustness.In response to these challenges, in this paper we address theoretical and practical problem related to both mutual localization and swarm planning.Firstly, we propose a certifiable mutual localization algorithm.It features a concise problem formulation coupled with lossless convex relaxation, enabling independence from initial values and globally optimal relative pose recovery.Then, to explore how detection noise and swarm motion influence estimation optimality, we conduct a comprehensive analysis on the interplay between robots' mutual spatial relationship and mutual localization. We develop a differentiable metric correlated with swarm trajectories to explicitly evaluate the noise resistance of optimal estimation.By establishing a finite and pre-computable threshold for this metric and accordingly generating swarm trajectories, the estimation optimality can be strictly guaranteed under arbitrary noise. Based on these findings, an optimization-based swarm planner is proposed to generate safe and smooth trajectories, with consideration of both inter-robot visibility and estimation optimality.Through numerical simulations, we evaluate the optimality and certifiablity of our estimator, and underscore the significance of our planner in enhancing estimation performance.The results exhibit considerable potential of our methods to pave the way for advanced closed-loop intelligence in swarm systems.
This manuscript delves into the intersection of genomics and phenotypic prediction, focusing on the statistical innovation required to navigate the complexities introduced by noisy covariates and confounders. The primary emphasis is on the development of advanced robust statistical models tailored for genomic prediction from single nucleotide polymorphism (SNP) data collected from genome-wide association studies (GWAS) in plant and animal breeding and multi-field trials. The manuscript explores the limitations of traditional marker-assisted recurrent selection, highlighting the significance of incorporating all estimated effects of marker loci into the statistical framework and aiming to reduce the high dimensionality of GWAS data while preserving critical information. This paper introduces a new robust statistical framework for genomic prediction, employing one-stage and two-stage linear mixed model analyses along with utilizing the popular robust minimum density power divergence estimator (MDPDE) to estimate genetic effects on phenotypic traits. The study illustrates the superior performance of the proposed MDPDE-based genomic prediction and associated heritability estimation procedures over existing competitors through extensive empirical experiments on artificial datasets and application to a real-life maize breeding dataset. The results showcase the robustness and accuracy of the proposed MDPDE-based approaches, especially in the presence of data contamination, emphasizing their potential applications in improving breeding programs and advancing genomic prediction of phenotyping traits.
We provide a quantitative assessment of welfare in the classical model of risk-sharing and exchange under uncertainty. We prove three kinds of results. First, that in an equilibrium allocation, the scope for improving individual welfare by a given margin (an $\ve$-improvement) vanishes as the number of states increases. Second, that the scope for a change in aggregate resources that may be distributed to enhance individual welfare by a given margin also vanishes. Equivalently: in an inefficient allocation, for a given level of resource sub-optimality (as measured by the coefficient of resource under-utilization), the possibilities for enhancing welfare by perturbing aggregate resources decrease exponentially to zero with the number of states. Finally, we consider efficient risk-sharing in standard models of uncertainty aversion with multiple priors, and show that, in an inefficient allocation, certain sets of priors shrink with the size of the state space.
We consider a wireless communication system with a passive eavesdropper, in which a transmitter and legitimate receiver generate and use key bits to secure the transmission of their data. These bits are added to and used from a pool of available key bits. In this work, we analyze the reliability of the system in terms of the probability that the budget of available key bits will be exhausted. In addition, we investigate the latency before a transmission can take place. Since security, reliability, and latency are three important metrics for modern communication systems, it is of great interest to jointly analyze them in relation to the system parameters. In particular, we show under what conditions the system may remain in an active state indefinitely, i.e., never run out of available secret-key bits. The results presented in this work will allow system designers to adjust the system parameters in such a way that the requirements of the application in terms of both reliability and latency are met.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans, we recognize that robots do not need to explicitly model every low-level action another agent will make; instead, we can capture the latent strategy of other agents through high-level representations. We propose a reinforcement learning-based framework for learning latent representations of an agent's policy, where the ego agent identifies the relationship between its behavior and the other agent's future strategy. The ego agent then leverages these latent dynamics to influence the other agent, purposely guiding them towards policies suitable for co-adaptation. Across several simulated domains and a real-world air hockey game, our approach outperforms the alternatives and learns to influence the other agent.
Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191