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1. Decision-Theoretic Planning with Communication in Open Multiagent Systems

   Kakarlapudi, Anirudh; Anil, Gayathri; Eck, Adam; Doshi, Prashant; Soh, Leen-Kiat (August 2022, Uncertainty in artificial intelligence)

   In open multiagent systems, the set of agents operating in the environment changes over time and in ways that are nontrivial to predict. For example, if collaborative robots were tasked with fighting wildfires, they may run out of suppressants and be temporarily unavailable to assist their peers. Because an agent's optimal action depends on the actions of others, each agent must not only predict the actions of its peers, but, before that, reason whether they are even present to perform an action. Addressing openness thus requires agents to model each other’s presence, which can be enhanced through agents communicating about their presence in the environment. At the same time, communicative acts can also incur costs (e.g., consuming limited bandwidth), and thus an agent must tradeoff the benefits of enhanced coordination with the costs of communication. We present a new principled, decision-theoretic method in the context provided by the recent communicative interactive POMDP framework for planning in open agent settings that balances this tradeoff. Simulations of multiagent wildfire suppression problems demonstrate how communication can improve planning in open agent environments, as well as how agents tradeoff the benefits and costs of communication under different scenarios. 

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2. Decision-theoretic planning with communication in open multiagent systems

   Kakarlapudi, Anirudh; Anil, Gayathri; Eck, Adam; Doshi, Prashan; Soh, Leen-Kiat (July 2022, Proceedings of the Thirty-Eighth Conference on Uncertainty in Artificial Intelligence)

   In open multiagent systems, the set of agents operating in the environment changes over time and in ways that are nontrivial to predict. For example, if collaborative robots were tasked with fighting wildfires, they may run out of suppressants and be temporarily unavailable to assist their peers. Because an agent’s optimal action depends on the actions of others, each agent must not only predict the actions of its peers, but, before that, reason whether they are even present to perform an action. Addressing openness thus requires agents to model each other’s presence, which can be enhanced through agents communicating about their presence in the environment. At the same time, communicative acts can also incur costs (e.g., consuming limited bandwidth), and thus an agent must tradeoff the benefits of enhanced coordination with the costs of communication. We present a new principled, decision-theoretic method in the context provided by the recent communicative interactive POMDP framework for planning in open agent settings that balances this tradeoff. Simulations of multiagent wildfire suppression problems demonstrate how communication can improve planning in open agent environments, as well as how agents tradeoff the benefits and costs of communication under different scenarios. 

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3. An Action Language for Multi-Agent Domains: Foundations

   Baral, C; Gelfond, G; Pontelli, E; Son, T (December 2019, Artificial intelligence)

   In multi-agent domains (MADs), an agent's action may not just change the world and the agent's knowledge and beliefs about the world, but also may change other agents' knowledge and beliefs about the world and their knowledge and beliefs about other agents' knowledge and beliefs about the world. The goals of an agent in a multi-agent world may involve manipulating the knowledge and beliefs of other agents' and again, not just their knowledge/belief about the world, but also their knowledge about other agents' knowledge about the world. Our goal is to present an action language (mA+) that has the necessary features to address the above aspects in representing and RAC in MADs. mA+ allows the representation of and reasoning about different types of actions that an agent can perform in a domain where many other agents might be present -- such as world-altering actions, sensing actions, and announcement/communication actions. It also allows the specification of agents' dynamic awareness of action occurrences which has future implications on what agents' know about the world and other agents' knowledge about the world. mA+ considers three different types of awareness: full-, partial- awareness, and complete oblivion of an action occurrence and its effects. This keeps the language simple, yet powerful enough to address a large variety of knowledge manipulation scenarios in MADs. The semantics of mA+ relies on the notion of state, which is described by a pointed Kripke model and is used to encode the agent's knowledge and the real state of the world. It is defined by a transition function that maps pairs of actions and states into sets of states. We illustrate properties of the action theories, including properties that guarantee finiteness of the set of initial states and their practical implementability. Finally, we relate mA+ to other related formalisms that contribute to RAC in MADs. 

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4. Baby Intuitions Benchmark (BIB): Discerning the goals, preferences, and actions of others.

   Gandhi, K. (January 2021, Advances in neural information processing systems)

   To achieve human-like common sense about everyday life, machine learning systems must understand and reason about the goals, preferences, and actions of other agents in the environment. By the end of their first year of life, human infants intuitively achieve such common sense, and these cognitive achievements lay the foundation for humans' rich and complex understanding of the mental states of others. Can machines achieve generalizable, commonsense reasoning about other agents like human infants? The Baby Intuitions Benchmark (BIB) challenges machines to predict the plausibility of an agent's behavior based on the underlying causes of its actions. Because BIB's content and paradigm are adopted from developmental cognitive science, BIB allows for direct comparison between human and machine performance. Nevertheless, recently proposed, deep-learning-based agency reasoning models fail to show infant-like reasoning, leaving BIB an open challenge. 

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5. Action Language mA* with Higher-Order Action Observability

   https://doi.org/10.24963/kr.2024/20  

   Buckingham, David; Scheutz, Matthias; Son, Tran Cao; Fabiano, Francesco (November 2024, International Joint Conferences on Artificial Intelligence Organization)

   This paper presents a novel semantics for the mA* epistemic action language that takes into consideration dynamic per-agent observability of events. Different from the original mA* semantics, the observability of events is defined locally at the level of possible worlds, giving a new method for compiling event models. Locally defined observability represents agents' uncertainty and false-beliefs about each others' ability to observe events. This allows for modeling second-order false-belief tasks where one agent does not know the truth about another agent's observations and resultant beliefs. The paper presents detailed constructions of event models for ontic, sensing, and truthful announcement action occurrences and proves various properties relating to agents' beliefs after the execution of an action. It also shows that the proposed approach can model second order false-belief tasks and satisfies the robustness and faithfulness criteria discussed by Bolander (2018, https://doi.org/10.1007/978-3-319-62864-6_8). 

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