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We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent&#39;s goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address  MG-MAPF: a heuristic search-based algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the satisfiability modulo theories (SMT), called SMT-Hamiltonian-CBS (SMT-HCBS).

AAAI 2021

Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

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). 

We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address  MG-MAPF: a heuristic search-based algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the satisfiability modulo theories (SMT), called SMT-Hamiltonian-CBS (SMT-HCBS).

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

Human behavior is the confluence of output from voluntary and involuntary motor systems. The neural activities that mediate behavior, from individual cells to distributed networks, are in a state of constant flux. Artificial intelligence (AI) research over the past decade shows that behavior, in the form of facial muscle activity, can reveal information about fleeting voluntary and involuntary motor system activity related to emotion, pain, and deception. However, the AI algorithms often lack an explanation for their decisions, and learning meaningful representations requires large datasets labeled by a subject-matter expert. Motivated by the success of using facial muscle movements to classify brain states and the importance of learning from small amounts of data, we propose an explainable self-supervised representation-learning paradigm that learns meaningful temporal facial muscle movement patterns from limited samples. We validate our methodology by carrying out comprehensive empirical study to predict future speech behavior in a real-world dataset of adults who stutter (AWS). Our explainability study found facial muscle movements around the eyes (p<0.001) and lips (p<0.001) differ significantly before producing fluent vs. disfluent speech. Evaluations using the AWS dataset demonstrates that the proposed self-supervised approach achieves a minimum of 2.51% accuracy improvement over fully-supervised approaches.

Interpretable Self-Supervised Facial Micro-Expression Learning to Predict Cognitive State and Neurological Disorders

Solving algebra story problems remains a challenging task in artificial intelligence, which requires a detailed understanding of real-world situations and a strong mathematical reasoning capability. Previous neural solvers of math word problems directly translate problem texts into equations, lacking an explicit interpretation of the situations, and often fail to handle more sophisticated situations. To address such limits of neural solvers, we introduce the concept of a situation model, which originates from psychology studies to represent the mental states of humans in problem-solving, and propose SMART, which adopts attributed grammar as the representation of situation models for algebra story problems. Specifically, we first train an information extraction module to extract nodes, attributes and relations from problem texts and then generate a parse graph based on a pre-defined attributed grammar. An iterative learning strategy is also proposed to further improve the performance of SMART. To study this task more rigorously, we carefully curate a new dataset named ASP6.6k. Experimental results on ASP6.6k show that the proposed model outperforms all previous neural solvers by a large margin, while preserving much better interpretability. To test these models' generalization capability, we also design an out-of-distribution (OOD) evaluation, in which problems are more complex than those in the training set. Our model exceeds state-of-the-art models by 17% in the OOD evaluation, demonstrating its superior generalization ability.

SMART: A Situation Model for Algebra Story Problems via Attributed Grammar

Reinforcement learning (RL) has made significant progress in both abstract and real-world domains, but the majority of state-of-the-art algorithms deal only with monotonic actions. However, some applications require agents to reason over different types of actions. Our application simulates reaction-based molecule generation, used as part of the drug discovery pipeline, and includes both uni-molecular and bi-molecular reactions. This paper introduces  a novel framework, towered actor critic (TAC), to handle multiple action types. The TAC framework is general in that it is designed to be combined with any existing RL algorithms for continuous action space. We combine it with TD3 to empirically obtain significantly better results than existing methods in the drug discovery setting. TAC is also applied to RL benchmarks in OpenAI Gym and results show that our framework can improve, or at least does not hurt, performance relative to standard TD3.

TAC: Towered Actor Critic for Handling Multiple Action Types in Reinforcement Learning for Drug Discovery

In order for conversational AI systems to hold more natural and broad-ranging conversations, they will require much more commonsense, including the ability to identify unstated presumptions of their conversational partners. For example, in the command "If it snows at night then wake me up early because I don't want to be late for work" the speaker relies on commonsense reasoning of the listener to infer the implicit presumption that they wish to be woken only if it snows enough to cause traffic slowdowns.  We consider here the problem of understanding such imprecisely stated natural language commands given in the form of if-(state), then-(action), because-(goal) statements. More precisely, we consider the problem of identifying the unstated presumptions of the speaker that allow the requested action to achieve the desired goal from the given state (perhaps elaborated by making the implicit presumptions explicit). We release a benchmark data set for this task, collected from humans and annotated with commonsense presumptions. We present a neuro-symbolic theorem prover that extracts multi-hop reasoning chains, and apply it to this problem. Furthermore, to accommodate the reality that current AI commonsense systems lack full coverage, we also present an interactive conversational framework built on our neuro-symbolic system, that conversationally evokes commonsense knowledge from humans to complete its reasoning chains.

Conversational Neuro-Symbolic Commonsense Reasoning

Many physical systems have underlying safety considerations that require that the policy employed ensures the satisfaction of a set of constraints.  The analytical formulation usually takes the form of a Constrained Markov Decision Process (CMDP). We focus on the case where the CMDP is unknown, and RL algorithms obtain samples to discover the model and compute an optimal constrained policy.  Our goal is to characterize the relationship between safety constraints and the number of samples needed to ensure a desired level of accuracy---both objective maximization and constraint satisfaction---in a PAC sense.  We explore two classes of RL algorithms, namely, (i) a generative model based approach, wherein samples are taken initially to estimate a model, and (ii) an online approach, wherein the model is updated as samples are obtained.  Our main finding is that compared to the best known bounds of the unconstrained regime, the sample complexity of constrained RL algorithms are increased by a factor that is logarithmic in the number of constraints, which suggests that the approach may be easily utilized in real systems.

Learning with Safety Constraints: Sample Complexity of Reinforcement Learning for Constrained MDPs

For artificially intelligent learning systems to have widespread applicability in real-world settings, it is important that they be able to operate decentrally.
Unfortunately, decentralized control is difficult---computing even an epsilon-optimal joint policy is a NEXP complete problem.
Nevertheless, a recently rediscovered insight---that a team of agents can coordinate via common knowledge---has given rise to algorithms capable of finding optimal joint policies in small common-payoff games.
The Bayesian action decoder (BAD) leverages this insight and deep reinforcement learning to scale to games as large as two-player Hanabi.
However, the approximations it uses to do so prevent it from discovering optimal joint policies even in games small enough to brute force optimal solutions.
This work proposes CAPI, a novel algorithm which, like BAD, combines common knowledge with deep reinforcement learning.
However, unlike BAD, CAPI prioritizes the propensity to discover optimal joint policies over scalability.
While this choice precludes CAPI from scaling to games as large as Hanabi, empirical results demonstrate that, on the games to which CAPI does scale, it is capable of discovering optimal joint policies even when other modern multi-agent reinforcement learning algorithms are unable to do so.

Solving Common-Payoff Games with Approximate Policy Iteration

We extend the expressivity of classical conditional reasoning by introducing context as a new parameter. The enriched conditional logic generalises the defeasible setting in the style of Kraus, Lehmann and Magidor, and allows for a more refined representation of an agentâ€™s epistemic state, distinguishing, for example, between expectations and counterfactuals. In this paper we introduce the language for the enriched logic, and define an appropriate semantic framework for it. We analyse which properties generally associated with conditional reasoning are still satisfied by the new semantic framework, provide an appropriate representation result, and define an entailment relation based on Lehmann and Magidorâ€™s notion of Rational Closure.

Contextual Conditional Reasoning

We address the challenging problem of semi-supervised learning in the context of multiple visual interpretations of the world by finding consensus in a graph of neural networks. Each graph node is a scene interpretation layer, while each edge is a deep net that transforms one layer at one node into another from a different node. During the supervised phase edge networks are trained independently. During the next unsupervised stage edge nets are trained on the pseudo-ground truth provided by consensus among multiple paths that reach the nets' start and end nodes. These paths act as ensemble teachers for any given edge and strong consensus is used for high-confidence supervisory signal. The unsupervised learning process is repeated over several generations, in which each edge becomes a "student" and also part of different ensemble "teachers" for training other students. By optimizing such consensus between different paths, the graph reaches consistency and robustness over multiple interpretations and generations, in the face of unknown labels. We give theoretical justifications of the proposed idea and validate it on a large dataset. We show how prediction of different representations such as depth, semantic segmentation, surface normals and pose from RGB input could be effectively learned through self-supervised consensus in our graph. We also compare to state-of-the-art methods for multi-task and semi-supervised learning and show superior performance.

Semi-Supervised Learning for Multi-Task Scene Understanding by Neural Graph Consensus

Computing goal-directed behavior is essential to designing efficient AI systems. Due to the computational complexity of planning, current approaches rely primarily upon hand-coded symbolic action models and hand-coded heuristic function generators for efficiency. Learned heuristics for such problems have been of limited utility as they are difficult to apply to problems with objects and object quantities that are significantly different from those in the training data. This paper develops a new approach for learning generalized heuristics in the absence of symbolic action models using deep neural networks that utilize an input predicate vocabulary but are agnostic to object names and quantities.  It uses an abstract state representation to facilitate data-efficient, generalizable learning. Empirical evaluation on a range of benchmark domains shows that in contrast to prior approaches, generalized heuristics computed by this method can be transferred easily to problems with different objects and with object quantities much larger than those in the training data.

Learning Generalized Relational Heuristic Networks for Model-Agnostic Planning

Post-processing immunity is a fundamental property of differential
privacy: it enables the application of arbitrary data-independent 
transformations to the results of differentially private outputs 
without affecting their privacy guarantees. 
When query outputs must satisfy domain constraints, post-processing 
can be used to project them back onto the feasibility region. 
Moreover, when the feasible region is convex, a widely adopted class of post-processing steps is also guaranteed to improve accuracy. Post-processing has 
been applied successfully in many applications including census 
data, energy systems, and mobility. However, its effects on the 
noise distribution is poorly understood: It is often argued that 
post-processing may introduce bias and increase variance. This paper 
takes a first step towards understanding the properties of 
post-processing. It considers the release of census data and 
examines, both empirically and theoretically, the behavior of a 
widely adopted class of post-processing functions.

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