Inverse Reinforcement Learning in Swarm Systems

Inverse reinforcement learning (IRL) has become a useful tool for learning behavioral models from demonstration data. However, IRL remains mostly unexplored for multi-agent systems. In this paper, we show how the principle of IRL can be extended to homogeneous large-scale problems, inspired by the collective swarming behavior of natural systems. In particular, we make the following contributions to the field: 1) We introduce the swarMDP framework, a sub-class of decentralized partially observable Markov decision processes endowed with a swarm characterization. 2) Exploiting the inherent homogeneity of this framework, we reduce the resulting multi-agent IRL problem to a single-agent one by proving that the agent-specific value functions in this model coincide. 3) To solve the corresponding control problem, we propose a novel heterogeneous learning scheme that is particularly tailored to the swarm setting. Results on two example systems demonstrate that our framework is able to produce meaningful local reward models from which we can replicate the observed global system dynamics.Comment: 9 pages, 8 figures; ### Version 2 ### version accepted at AAMAS 201

Heterogeneous Stochastic Interactions for Multiple Agents in a Multi-armed Bandit Problem

We define and analyze a multi-agent multi-armed bandit problem in which decision-making agents can observe the choices and rewards of their neighbors. Neighbors are defined by a network graph with heterogeneous and stochastic interconnections. These interactions are determined by the sociability of each agent, which corresponds to the probability that the agent observes its neighbors. We design an algorithm for each agent to maximize its own expected cumulative reward and prove performance bounds that depend on the sociability of the agents and the network structure. We use the bounds to predict the rank ordering of agents according to their performance and verify the accuracy analytically and computationally

Modeling the mobility of living organisms in heterogeneous landscapes: Does memory improve foraging success?

Thanks to recent technological advances, it is now possible to track with an unprecedented precision and for long periods of time the movement patterns of many living organisms in their habitat. The increasing amount of data available on single trajectories offers the possibility of understanding how animals move and of testing basic movement models. Random walks have long represented the main description for micro-organisms and have also been useful to understand the foraging behaviour of large animals. Nevertheless, most vertebrates, in particular humans and other primates, rely on sophisticated cognitive tools such as spatial maps, episodic memory and travel cost discounting. These properties call for other modeling approaches of mobility patterns. We propose a foraging framework where a learning mobile agent uses a combination of memory-based and random steps. We investigate how advantageous it is to use memory for exploiting resources in heterogeneous and changing environments. An adequate balance of determinism and random exploration is found to maximize the foraging efficiency and to generate trajectories with an intricate spatio-temporal order. Based on this approach, we propose some tools for analysing the non-random nature of mobility patterns in general.Comment: 14 pages, 4 figures, improved discussio