Search Results for author: Stefano V. Albrecht

Found 39 papers, 17 papers with code

Scalable Multi-Agent Reinforcement Learning for Warehouse Logistics with Robotic and Human Co-Workers

no code implementations22 Dec 2022 Aleksandar Krnjaic, Jonathan D. Thomas, Georgios Papoudakis, Lukas Schäfer, Peter Börsting, Stefano V. Albrecht

This project leverages advances in multi-agent reinforcement learning (MARL) to improve the efficiency and flexibility of order-picking systems for commercial warehouses.

Multi-agent Reinforcement Learning

A General Learning Framework for Open Ad Hoc Teamwork Using Graph-based Policy Learning

1 code implementation11 Oct 2022 Arrasy Rahman, Ignacio Carlucho, Niklas Höpner, Stefano V. Albrecht

These belief estimates are combined with our solution for the fully observable case to compute an agent's optimal policy under partial observability in open ad hoc teamwork.

Generating Diverse Teammates to Train Robust Agents For Ad Hoc Teamwork

no code implementations28 Jul 2022 Arrasy Rahman, Elliot Fosong, Ignacio Carlucho, Stefano V. Albrecht

Early approaches address the AHT challenge by training the learner with a diverse set of handcrafted teammate policies, usually designed based on an expert's domain knowledge about the policies the learner may encounter.

Few-Shot Teamwork

no code implementations19 Jul 2022 Elliot Fosong, Arrasy Rahman, Ignacio Carlucho, Stefano V. Albrecht

We propose the novel few-shot teamwork (FST) problem, where skilled agents trained in a team to complete one task are combined with skilled agents from different tasks, and together must learn to adapt to an unseen but related task.

Multi-agent Reinforcement Learning reinforcement-learning +1

Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning

1 code implementation12 Jul 2022 Mhairi Dunion, Trevor McInroe, Kevin Sebastian Luck, Josiah Hanna, Stefano V. Albrecht

Reinforcement Learning (RL) agents are often unable to generalise well to environment variations in the state space that were not observed during training.

Disentanglement reinforcement-learning +1

Verifiable Goal Recognition for Autonomous Driving with Occlusions

1 code implementation28 Jun 2022 Cillian Brewitt, Massimiliano Tamborski, Stefano V. Albrecht

A recent goal recognition method for autonomous vehicles, GRIT, has been shown to be fast, accurate, interpretable and verifiable.

Autonomous Driving

Learning Representations for Control with Hierarchical Forward Models

no code implementations22 Jun 2022 Trevor McInroe, Lukas Schäfer, Stefano V. Albrecht

Also, we find that levels in HKSL's hierarchy can learn to specialize in long- or short-term consequences of agent actions, thereby providing the downstream control policy with more informative representations.

Representation Learning

A Survey of Ad Hoc Teamwork Research

no code implementations16 Feb 2022 Reuth Mirsky, Ignacio Carlucho, Arrasy Rahman, Elliot Fosong, William Macke, Mohan Sridharan, Peter Stone, Stefano V. Albrecht

Ad hoc teamwork is the research problem of designing agents that can collaborate with new teammates without prior coordination.

Robust On-Policy Sampling for Data-Efficient Policy Evaluation in Reinforcement Learning

1 code implementation29 Nov 2021 Rujie Zhong, Duohan Zhang, Lukas Schäfer, Stefano V. Albrecht, Josiah P. Hanna

Reinforcement learning (RL) algorithms are often categorized as either on-policy or off-policy depending on whether they use data from a target policy of interest or from a different behavior policy.

Offline RL reinforcement-learning +1

Learning Temporally-Consistent Representations for Data-Efficient Reinforcement Learning

2 code implementations11 Oct 2021 Trevor McInroe, Lukas Schäfer, Stefano V. Albrecht

Deep reinforcement learning (RL) agents that exist in high-dimensional state spaces, such as those composed of images, have interconnected learning burdens.

reinforcement-learning reinforcement Learning +1

Decoupled Reinforcement Learning to Stabilise Intrinsically-Motivated Exploration

1 code implementation ICML Workshop URL 2021 Lukas Schäfer, Filippos Christianos, Josiah P. Hanna, Stefano V. Albrecht

Intrinsic rewards can improve exploration in reinforcement learning, but the exploration process may suffer from instability caused by non-stationary reward shaping and strong dependency on hyperparameters.

reinforcement-learning reinforcement Learning

Expressivity of Emergent Language is a Trade-off between Contextual Complexity and Unpredictability

1 code implementation7 Jun 2021 Shangmin Guo, Yi Ren, Kory Mathewson, Simon Kirby, Stefano V. Albrecht, Kenny Smith

Researchers are using deep learning models to explore the emergence of language in various language games, where agents interact and develop an emergent language to solve tasks.

GRIT: Fast, Interpretable, and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving

2 code implementations10 Mar 2021 Cillian Brewitt, Balint Gyevnar, Stefano V. Albrecht

As autonomous driving is safety-critical, it is important to have methods which are human interpretable and for which safety can be formally verified.

Autonomous Driving Robotics Multiagent Systems

Scaling Multi-Agent Reinforcement Learning with Selective Parameter Sharing

1 code implementation15 Feb 2021 Filippos Christianos, Georgios Papoudakis, Arrasy Rahman, Stefano V. Albrecht

Sharing parameters in multi-agent deep reinforcement learning has played an essential role in allowing algorithms to scale to a large number of agents.

Multi-agent Reinforcement Learning reinforcement-learning +1

PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving

no code implementations1 Nov 2020 Henry Pulver, Francisco Eiras, Ludovico Carozza, Majd Hawasly, Stefano V. Albrecht, Subramanian Ramamoorthy

In this paper, we present PILOT -- a planning framework that comprises an imitation neural network followed by an efficient optimiser that actively rectifies the network's plan, guaranteeing fulfilment of safety and comfort requirements.

Autonomous Driving Imitation Learning

Towards Quantum-Secure Authentication and Key Agreement via Abstract Multi-Agent Interaction

1 code implementation18 Jul 2020 Ibrahim H. Ahmed, Josiah P. Hanna, Elliot Fosong, Stefano V. Albrecht

Authentication and key agreement are decided based on the agents' observed behaviors during the interaction.

Towards Open Ad Hoc Teamwork Using Graph-based Policy Learning

1 code implementation18 Jun 2020 Arrasy Rahman, Niklas Höpner, Filippos Christianos, Stefano V. Albrecht

Ad hoc teamwork is the challenging problem of designing an autonomous agent which can adapt quickly to collaborate with teammates without prior coordination mechanisms, including joint training.

Agent Modelling under Partial Observability for Deep Reinforcement Learning

1 code implementation NeurIPS 2021 Georgios Papoudakis, Filippos Christianos, Stefano V. Albrecht

Existing methods for agent modelling commonly assume knowledge of the local observations and chosen actions of the modelled agents during execution.

reinforcement-learning reinforcement Learning

Benchmarking Multi-Agent Deep Reinforcement Learning Algorithms in Cooperative Tasks

5 code implementations14 Jun 2020 Georgios Papoudakis, Filippos Christianos, Lukas Schäfer, Stefano V. Albrecht

Multi-agent deep reinforcement learning (MARL) suffers from a lack of commonly-used evaluation tasks and criteria, making comparisons between approaches difficult.

reinforcement-learning reinforcement Learning

Integrating Planning and Interpretable Goal Recognition for Autonomous Driving

2 code implementations6 Feb 2020 Stefano V. Albrecht, Cillian Brewitt, John Wilhelm, Francisco Eiras, Mihai Dobre, Subramanian Ramamoorthy

The ability to predict the intentions and driving trajectories of other vehicles is a key problem for autonomous driving.

Robotics

Variational Autoencoders for Opponent Modeling in Multi-Agent Systems

no code implementations29 Jan 2020 Georgios Papoudakis, Stefano V. Albrecht

Modeling the behavior of other agents (opponents) is essential in understanding the interactions of the agents in the system.

Stabilizing Generative Adversarial Networks: A Survey

no code implementations30 Sep 2019 Maciej Wiatrak, Stefano V. Albrecht, Andrew Nystrom

Generative Adversarial Networks (GANs) are a type of generative model which have received much attention due to their ability to model complex real-world data.

E-HBA: Using Action Policies for Expert Advice and Agent Typification

no code implementations23 Jul 2019 Stefano V. Albrecht, Jacob W. Crandall, Subramanian Ramamoorthy

Past research has studied two approaches to utilise predefined policy sets in repeated interactions: as experts, to dictate our own actions, and as types, to characterise the behaviour of other agents.

Comparative Evaluation of Multiagent Learning Algorithms in a Diverse Set of Ad Hoc Team Problems

no code implementations22 Jul 2019 Stefano V. Albrecht, Subramanian Ramamoorthy

In this work, we empirically evaluate five MAL algorithms, representing major approaches to multiagent learning but originally developed with the homogeneous setting in mind, to understand their behaviour in a set of ad hoc team problems.

Fairness

On Convergence and Optimality of Best-Response Learning with Policy Types in Multiagent Systems

no code implementations15 Jul 2019 Stefano V. Albrecht, Subramanian Ramamoorthy

In this paper, we provide theoretical guidance on two central design parameters of this method: Firstly, it is important that the user choose a posterior which can learn the true distribution of latent types, as otherwise suboptimal actions may be chosen.

An Empirical Study on the Practical Impact of Prior Beliefs over Policy Types

no code implementations10 Jul 2019 Stefano V. Albrecht, Jacob W. Crandall, Subramanian Ramamoorthy

To address this problem, researchers have studied learning algorithms which compute posterior beliefs over a hypothesised set of policies, based on the observed actions of the other agents.

Exploiting Causality for Selective Belief Filtering in Dynamic Bayesian Networks (Extended Abstract)

no code implementations10 Jul 2019 Stefano V. Albrecht, Subramanian Ramamoorthy

Belief filtering in DBNs is the task of inferring the belief state (i. e. the probability distribution over process states) based on incomplete and uncertain observations.

Are You Doing What I Think You Are Doing? Criticising Uncertain Agent Models

no code implementations2 Jul 2019 Stefano V. Albrecht, S. Ramamoorthy

The key for effective interaction in many multiagent applications is to reason explicitly about the behaviour of other agents, in the form of a hypothesised behaviour.

Dealing with Non-Stationarity in Multi-Agent Deep Reinforcement Learning

no code implementations11 Jun 2019 Georgios Papoudakis, Filippos Christianos, Arrasy Rahman, Stefano V. Albrecht

Recent developments in deep reinforcement learning are concerned with creating decision-making agents which can perform well in various complex domains.

Decision Making Meta-Learning +3

Reasoning about Unforeseen Possibilities During Policy Learning

no code implementations10 Jan 2018 Craig Innes, Alex Lascarides, Stefano V. Albrecht, Subramanian Ramamoorthy, Benjamin Rosman

Methods for learning optimal policies in autonomous agents often assume that the way the domain is conceptualised---its possible states and actions and their causal structure---is known in advance and does not change during learning.

Autonomous Agents Modelling Other Agents: A Comprehensive Survey and Open Problems

no code implementations23 Sep 2017 Stefano V. Albrecht, Peter Stone

Much research in artificial intelligence is concerned with the development of autonomous agents that can interact effectively with other agents.

Belief and Truth in Hypothesised Behaviours

no code implementations28 Jul 2015 Stefano V. Albrecht, Jacob W. Crandall, Subramanian Ramamoorthy

The idea is to hypothesise a set of types, each specifying a possible behaviour for the other agents, and to plan our own actions with respect to those types which we believe are most likely, given the observed actions of the agents.

A Game-Theoretic Model and Best-Response Learning Method for Ad Hoc Coordination in Multiagent Systems

no code implementations3 Jun 2015 Stefano V. Albrecht, Subramanian Ramamoorthy

Based on this model, we derive a solution, called Harsanyi-Bellman Ad Hoc Coordination (HBA), which utilises the concept of Bayesian Nash equilibrium in a planning procedure to find optimal actions in the sense of Bellman optimal control.

Exploiting Causality for Selective Belief Filtering in Dynamic Bayesian Networks

no code implementations30 Jan 2014 Stefano V. Albrecht, Subramanian Ramamoorthy

Furthermore, we demonstrate how passivity occurs naturally in a complex system such as a multi-robot warehouse, and how PSBF can exploit this to accelerate the filtering task.

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