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In this paper, we study the problem of learning to satisfy temporal logic specifications with a group of agents in an unknown environment, which may exhibit probabilistic behaviour. From a learning perspective these specifications provide a rich formal language with which to capture tasks or objectives, while from a logic and automated verification perspective the introduction of learning capabilities allows for practical applications in large, stochastic, unknown environments. The existing work in this area is, however, limited. Of the frameworks that consider full linear temporal logic or have correctness guarantees, all methods thus far consider only the case of a single temporal logic specification and a single agent. In order to overcome this limitation, we develop the first multi-agent reinforcement learning technique for temporal logic specifications, which is also novel in its ability to handle multiple specifications. We provide correctness and convergence guarantees for our main algorithm – ALMANAC (Automaton/Logic Multi-Agent Natural Actor-Critic) – even when using function approximation. Alongside our theoretical results, we further demonstrate the applicability of our technique via a set of preliminary experiments.

AAMAS 2021

Multi-Agent Reinforcement Learning with Temporal Logic Specifications

AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). The aim of the joint conference is to provide a single, high-profile, internationally-respected archival forum for scientific research in the theory and practice of autonomous agents and multi-agent systems.

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AAMAS 2020

AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). 

technical paper

AAMAS is the largest and most influential conference in the area of agents and multiagent systems, bringing together researchers and practitioners in all areas of agent technology and providing and internationally renowned high-profile forum for publishing and finding out about the latest developments in the field. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).  

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Agents can individually devise plans and coordinate to achieve common goals. Methods exist to factor planning problems into separate tasks and distribute the plan synthesis process, while reducing the overall planning complexity. Merging distributedly generated plans becomes computationally costly when task plans are tightly coupled, and conflicts arise due to dependencies between plan actions. New plan merging algorithms allow factoring and solving large problems with a growing number of agents and tasks, but are yet to be demonstrated in physical real-world systems.   This Demo presents an architecture that deploys plan merging algorithms in a physical multi-robot setting and emulates a First Response Domain.

Scalable Multiple Robot Task Planning with Plan Merging and Conflict Resolution

We study a variant of the continuous multi-armed bandits problem, where the objective is to estimate the sensitivity threshold for an unknown psychometric function ¶si. This setting models the conduct of a psychometric experiment, which aims at quantifying human perception. We show that this setting is akin to hierarchical multi-armed bandits and Black-box optimization of noisy functions, with both significant similarities and key differences. We introduce a new algorithm, DOS, for Dichotomous Optimistic Search, that efficiently solves this task, and show that DOS outperforms recent methods from both Psychophysics and Global Optimization for non Gaussian Psychometric functions in our experiments.

Quantifying Human Perception with Multi-Armed Bandits

We study the problem of zero-shot coordination (ZSC), where agents must independently produce strategies for a collaborative game that are compatible with novel partners not seen during training. In particular, our first contribution is to consider the need for diversity in generating such agents. Because self-play agents control their own trajectory distribution during training, their policy only performs well on this exact distribution. As a result, they achieve low scores in ZSC, since playing with another agent is likely to put them in situations they have not encountered during training. To address this issue, we train a common best response (BR) to a population of agents, which we regulate to be as diverse as possible. For that purpose, we introduce Trajectory Diversity (TrajeDi) - a differentiable objective for generating diverse reinforcement learning (RL) policies. We present TrajeDi as a generalization of the Jensen-Shannon divergence (JSD) between policies and motivate it experimentally in a simple matrix game, where it allows to find the unique ZSC-optimal solution.

Trajectory Diversity for Zero-Shot Coordination

In service robot applications, planning is often integrated with task allocation.  Linear Temporal Logic (LTL) as an expressive high-level formalism is widely used for task specification, and allows for formalised restrictions on temporal sequences of tasks.   In multiagent planning, a Multi-Objective Markov Decision Process extends the standard model with vector rewards capturing possibly conflicting planning objectives. Such objectives include the success rates of accomplishing individual tasks, and the cost budgets for individual agents. In this paper, we consider the problem of concurrently allocating LTL task sequences to a team of agents and calculating optimal task schedulers simultaneously, satisfying cost and probability thresholds. We reduce this problem to multi-objective scheduler synthesis for a team MDP structure, whose size is linear in the number of agents. Our preliminary experiment demonstrates the scalability of our approach.

Multiagent Task Allocation and Planning with Multi-Objective Requirements

This paper studies distributed Q-learning for Linear Quadratic Regulator (LQR) in a multi-agent network. The existing results often assume that agents can observe the global system state, which may be infeasible in large-scale systems due to privacy concerns or communication constraints. In this work, we consider a setting with unknown system models and no centralized coordinator. We devise a state tracking (ST) based Q-learning algorithm to design optimal controllers for agents. Specifically, we assume that agents maintain local estimates of the global state based on their local information and communications with neighbors. At each step, every agent updates its local global state estimation, based on which it solves an approximate Q-factor locally through policy iteration. Assuming a decaying injected excitation noise during the policy evaluation, we prove that the local estimation converges to the true global state, and establish the convergence of the proposed distributed ST-based Q-learning algorithm. The experimental studies corroborate our theoretical results by showing that our proposed method achieves comparable performance with the centralized case.

Distributed Q-Learning with State Tracking for Multi-agent Networked Control

This paper is preoccupied with the following question: given a (possibly opaque) learning system, how can we understand whether its behaviour adheres to governance constraints? The answer can be quite simple: we just need to "ask" the system about it. We propose to construct an investigator agent to query a learning agent-- the suspect agent-- to investigate its adherence to a given ethical policy in the context of an information-seeking dialogue, modeled in formal argumentation settings. This formal dialogue framework is the main contribution of this paper. Through it, we break down compliance checking mechanisms into three modular components, each of which can be tailored to various needs in a vast amount of ways: an investigator agent, a suspect agent, and an acceptance protocol determining whether the responses of the suspect agent comply with the policy. This acceptance protocol presents a fundamentally different approach to aggregation: rather than using quantitative methods to deal with the non-determinism of a learning system, we leverage the use of argumentation semantics to investigate the notion of properties holding consistently. Overall, we argue that the introduced formal dialogue framework opens many avenues both in the area of compliance checking and in the analysis of properties of opaque systems.

Interrogating the Black Box: Transparency through Information-Seeking Dialogues

A robust testing program is necessary for containing the spread of COVID-19 infections before a vaccine becomes available. However, due to an acute shortage of testing kits (especially in low-resource developing countries), designing an optimal testing program/strategy is a challenging problem to solve. Prior literature on testing strategies suffers from two major limitations: (i) it does not account for the trade-off between testing of symptomatic and asymptomatic individuals, and (ii) it primarily focuses on static testing strategies, which leads to significant shortcomings in the testing program's effectiveness. In this paper, we address these limitations by making five novel contributions. (i) We formally define the optimal testing problem and propose the DOCTOR POMDP model to tackle it. (ii) We solve the DOCTOR POMDP using a scalable Monte Carlo tree search based algorithm. (iii) We provide a rigorous experimental analysis of DOCTOR's testing strategies against static baselines - our results show that when applied to the city of Santiago in Panama, DOCTOR's strategies result in approximately 40% fewer COVID-19 infections (over one month) as compared to state-of-the-art static baselines. (iv) In addition, we analyze DOCTOR's testing policy to derive insights about the reasons behind the optimality of DOCTOR's testing policy. (v) Finally, we characterize conditions (of the real world) under which DOCTOR's optimization would be of most benefit to government policy makers, and thus requires significant attention from researchers in this area. Our work complements the growing body of research on COVID-19, and serves as a proof-of-concept that illustrates the benefit of having an AI-driven adaptive testing strategy for COVID-19.

Let the DOCTOR Decide Whom to Test: Adaptive Testing Strategies to Tackle the COVID-19 Pandemic

Active screening is a common approach in controlling the spread of recurring infectious diseases such as tuberculosis and influenza. In this approach, health workers periodically select a subset of population for screening. However, given the limited number of health workers, only a small subset of the population can be visited in any given time period. Given the recurrent nature of the disease and rapid spreading, the goal is to minimize the number of infections over a long time horizon. Active screening can be formalized as a sequential combinatorial optimization over the network of people and their connections. The main computational challenges in this formalization arise from i) the combinatorial nature of the problem, ii) the need of sequential planning and iii) the uncertainties in the infectiousness states of the population.    Previous works on active screening fail to scale to large time horizon while fully considering the future effect of current interventions. In this paper, we propose a novel reinforcement learning (RL) approach based on Deep Q-Networks (DQN), with several innovative adaptations that are designed to address the above challenges. First, we use graph convolutional networks (GCNs) to represent the Q-function that exploit the node correlations of the underlying contact network. Second, to avoid solving a combinatorial optimization problem in each time period, we decompose the node set selection as a sub-sequence of decisions, and further design a two-level RL framework that solves the problem in a hierarchical way. Finally, to speed-up the slow convergence of RL which arises from reward sparseness, we incorporate ideas from curriculum learning into our hierarchical RL approach. We evaluate our RL algorithm on several real-world networks. Results show that our RL algorithm can scale up to 10 times the problem size of state-of-the-art (the variant that considers the effect of future interventions but unscalable) in terms of planning time horizon. Meanwhile, it outperforms state-of-the-art (the variant that scales up but does not consider the effect of future interventions) by up to 33% in solution quality.

Active Screening for Recurrent Diseases: A Reinforcement Learning Approach

This paper addresses an epidemiologic inference problem where, given realtime observation of test results, presence of symptoms, and physical contacts, the most likely infected individuals need to be inferred. The inference problem is modeled as a hidden Markov model where infection probabilities are updated at every time step and evolve between time steps. We suggest a unique inference approach that avoids storing the given observations explicitly. Theoretical justification for the proposed model is provided under specific simplifying assumptions. To complement these theoretical results, a comprehensive experimental study is performed using a custom-built agent-based simulator that models inter-agent contacts. The reported results show the effectiveness of the proposed inference model when considering more realistic scenarios -- where the simplifying assumptions do not hold. When pairing the proposed inference model with a simple testing and quarantine policy, promising trends are obtained where the epidemic progression is significantly slowed down while quarantining a bounded number of individuals.

Multiagent Epidemiologic Inference through Realtime Contact Tracing

In safe Reinforcement Learning (RL), the agent attempts to find policies which maximize the expectation of accumulated rewards and guarantee its safety to remain above a given threshold. Hence, it is straightforward to formalize safe RL problems by both a reward function and a safety constraint. We define safety as the probability of survival in environments where taking risky actions could lead to early termination of the task. Although the optimization problem is already constrained by a safety threshold, reward signals related to unsafe terminal states influence the original maximization objective of the task. Selecting the appropriate value of these signals is often a time consuming and challenging reward engineering task, which requires expert knowledge of the domain.     This paper presents a safe RL algorithm, called Masked Constrained Policy Optimization (MCPO), in which the learning process is constrained by safety and excludes the risk reward signals. We develop MCPO as an extension of gradient-based policy search methods, in which the updates of the policy and the expected reward models are masked. Our method benefits from having a high probability of satisfying the given constraints for every policy in the learning process. We validate the proposed algorithm in two continuous tasks. Our findings prove the proposed algorithm is able to neglect risk reward signals, and thereby resolving the desired safety-performance trade-off without having the need for hand-tuning rewards.

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Scalable Multiple Robot Task Planning with Plan Merging and Conflict Resolution

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Policy Synthesis for Factored MDPs with Graph Temporal Logic Specifications

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Scalable Multiple Robot Task Planning with Plan Merging and Conflict Resolution

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Policy Synthesis for Factored MDPs with Graph Temporal Logic Specifications

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