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1. One for One, or All for All: Equilibria and Optimality of Collaboration in Federated Learning

   Blum, A.; Haghtalab, N.; Phillips, R.L.; Shao, H. (January 2021, International Conference on Machine Learning)

   null (Ed.)

   In recent years, federated learning has been embraced as an approach for bringing about collaboration across large populations of learning agents. However, little is known about how collaboration protocols should take agents’ incentives into account when allocating individual resources for communal learning in order to maintain such collaborations. Inspired by game theoretic notions, this paper introduces a framework for incentive-aware learning and data sharing in federated learning. Our stable and envy-free equilibria capture notions of collaboration in the presence of agents interested in meeting their learning objectives while keeping their own sample collection burden low. For example, in an envy-free equilibrium, no agent would wish to swap their sampling burden with any other agent and in a stable equilibrium, no agent would wish to unilaterally reduce their sampling burden. In addition to formalizing this framework, our contributions include characterizing the structural properties of such equilibria, proving when they exist, and showing how they can be computed. Furthermore, we compare the sample complexity of incentive-aware collaboration with that of optimal collaboration when one ignores agents’ incentives. 

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2. Model-free Learning with Heterogeneous Dynamical Systems: A Federated LQR Approach

   Wang, H.; Toso, L.F.; Mitra, A.; Anderson, J (August 2023, arXivorg)

   We study a model-free federated linear quadratic regulator (LQR) problem where M agents with unknown, distinct yet similar dynamics collaboratively learn an optimal policy to minimize an average quadratic cost while keeping their data private. To exploit the similarity of the agents' dynamics, we propose to use federated learning (FL) to allow the agents to periodically communicate with a central server to train policies by leveraging a larger dataset from all the agents. With this setup, we seek to understand the following questions: (i) Is the learned common policy stabilizing for all agents? (ii) How close is the learned common policy to each agent's own optimal policy? (iii) Can each agent learn its own optimal policy faster by leveraging data from all agents? To answer these questions, we propose a federated and model-free algorithm named FedLQR. Our analysis overcomes numerous technical challenges, such as heterogeneity in the agents' dynamics, multiple local updates, and stability concerns. We show that FedLQR produces a common policy that, at each iteration, is stabilizing for all agents. We provide bounds on the distance between the common policy and each agent's local optimal policy. Furthermore, we prove that when learning each agent's optimal policy, FedLQR achieves a sample complexity reduction proportional to the number of agents M in a low-heterogeneity regime, compared to the single-agent setting. 

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3. PACE: A Framework for Learning and Control in Linear Incomplete-Information Differential Games

   Soltanian, Seyed Yousef; Zhang, Wenlong (May 2025, Proceedings of Machine Learning Research)

   In this paper, we address the problem of a two-player linear quadratic differential game with incomplete information, a scenario commonly encountered in multi-agent control, human-robot interaction (HRI), and approximation methods to solve general-sum differential games. While solutions to such linear differential games are typically obtained through coupled Riccati equations, the complexity increases when agents have incomplete information, particularly when neither is aware of the other’s cost function. To tackle this challenge, we propose a model-based Peer-Aware Cost Estimation (PACE) framework for learning the cost parameters of the other agent. In PACE, each agent treats its peer as a learning agent rather than a stationary optimal agent, models their learning dynamics, and leverages this dynamic to infer the cost function parameters of the other agent. This approach enables agents to infer each other’s objective function in real time based solely on their previous state observations and dynamically adapt their control policies. Furthermore, we provide a theoretical guarantee for the convergence of parameter estimation and the stability of system states in PACE. Additionally, using numerical studies, we demonstrate how modeling the learning dynamics of the other agent benefits PACE, compared to approaches that approximate the other agent as having complete information, particularly in terms of stability and convergence speed. 

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4. Markov Persuasion Processes with Endogenous Agent Beliefs

   Iyer, Krishnamurthy; Xu, Haifeng Xu; Zu, You (December 2023, The 19th Conference On Web And InterNet Economics (WINE 2023))

   We consider a dynamic Bayesian persuasion setting where a single long-lived sender persuades a stream of ``short-lived'' agents (receivers) by sharing information about a payoff-relevant state. The state transitions are Markovian and the sender seeks to maximize the long-run average reward by committing to a (possibly history-dependent) signaling mechanism. While most previous studies of Markov persuasion consider exogenous agent beliefs that are independent of the chain, we study a more natural variant with endogenous agent beliefs that depend on the chain's realized history. A key challenge to analyze such settings is to model the agents' partial knowledge about the history information. We analyze a Markov persuasion process (MPP) under various information models that differ in the amount of information the receivers have about the history of the process. Specifically, we formulate a general partial-information model where each receiver observes the history with an l period lag. Our technical contribution start with analyzing two benchmark models, i.e., the full-history information model and the no-history information model. We establish an ordering of the sender's payoff as a function of the informativeness of agent's information model (with no-history as the least informative), and develop efficient algorithms to compute optimal solutions for these two benchmarks. For general l, we present the technical challenges in finding an optimal signaling mechanism, where even determining the right dependency on the history becomes difficult. To bypass the difficulties, we use a robustness framework to design a "simple" \emph{history-independent} signaling mechanism that approximately achieves optimal payoff when l is reasonably large. 

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5. Decentralized Federated Learning with Model Caching on Mobile Agents

   Wang, Xiaoyu; Xiong, Guojun; Cao, Houwei; Li, Jian Li; Liu, Yong (February 2025, Proceedings of Thirty-Ninth AAAI Conference on Artificial Intelligence)

   Federated Learning (FL) aims to train a shared model using data and computation power on distributed agents coordinated by a central server. Decentralized FL (DFL) utilizes local model exchange and aggregation between agents to reduce the communication and computation overheads on the central server. However, when agents are mobile, the communication opportunity between agents can be sporadic, largely hindering the convergence and accuracy of DFL. In this paper, we study delay-tolerant model spreading and aggregation enabled by model caching on mobile agents. Each agent stores not only its own model, but also models of agents encountered in the recent past. When two agents meet, they exchange their own models as well as the cached models. Local model aggregation works on all models in the cache. We theoretically analyze the convergence of DFL with cached models, explicitly taking into account the model staleness introduced by caching. We design and compare different model caching algorithms for different DFL and mobility scenarios. We conduct detailed case studies in a vehicular network to systematically investigate the interplay between agent mobility, cache staleness, and model convergence. In our experiments, cached DFL converges quickly, and significantly outperforms DFL without caching. 

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