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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Approximate Multiagent Reinforcement Learning for On-Dema...
Daniel Garces, Sushmita Bhattacharya, Dimitri Bertsekas, Stephan · 2023-11-03 · via cs.RO updates on arXiv.org

In this paper, we focus on the autonomous multiagent taxi routing problem for a large urban environment where the location and number of future ride requests are unknown a-priori, but can be estimated by an empirical distribution. Recent theory has shown that a rollout algorithm with a stable base policy produces a near-optimal stable policy. In the routing setting, a policy is stable if its execution keeps the number of outstanding requests uniformly bounded over time. Although, rollout-based approaches are well-suited for learning cooperative multiagent policies with considerations for future demand, applying such methods to a large urban environment can be computationally expensive due to the large number of taxis required for stability. In this paper, we aim to address the computational bottleneck of multiagent rollout by proposing an approximate multiagent rollout-based two phase algorithm that reduces computational costs, while still achieving a stable near-optimal policy. Our approach partitions the graph into sectors based on the predicted demand and the maximum number of taxis that can run sequentially given the user's computational resources. The algorithm then applies instantaneous assignment (IA) for re-balancing taxis across sectors and a sector-wide multiagent rollout algorithm that is executed in parallel for each sector. We provide two main theoretical results: 1) characterize the number of taxis $m$ that is sufficient for IA to be stable; 2) derive a necessary condition on $m$ to maintain stability for IA as time goes to infinity. Our numerical results show that our approach achieves stability for an $m$ that satisfies the theoretical conditions. We also empirically demonstrate that our proposed two phase algorithm has equivalent performance to the one-at-a-time rollout over the entire map, but with significantly lower runtimes.