Dif-MAML: Decentralized Multi-Agent Meta-Learning

The objective of meta-learning is to exploit the knowledge obtained from observed tasks to improve adaptation to unseen tasks. As such, meta-learners are able to generalize better when they are trained with a larger number of observed tasks and with a larger amount of data per task. Given the amount of resources that are needed, it is generally difficult to expect the tasks, their respective data, and the necessary computational capacity to be available at a single central location. It is more natural to encounter situations where these resources are spread across several agents connected by some graph topology. The formalism of meta-learning is actually well-suited to this decentralized setting, where the learner would be able to benefit from information and computational power spread across the agents. Motivated by this observation, in this work, we propose a cooperative fully-decentralized multi-agent meta-learning algorithm, referred to as Diffusion-based MAML or Dif-MAML. Decentralized optimization algorithms are superior to centralized implementations in terms of scalability, avoidance of communication bottlenecks, and privacy guarantees. The work provides a detailed theoretical analysis to show that the proposed strategy allows a collection of agents to attain agreement at a linear rate and to converge to a stationary point of the aggregate MAML objective even in non-convex environments. Simulation results illustrate the theoretical findings and the superior performance relative to the traditional non-cooperative setting

Cost Adaptation for Robust Decentralized Swarm Behaviour

Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agents. This formulation allows a wide range of tasks to be encoded and can account for network delays, heterogeneous capabilities, and increasingly large swarms through the adaptation mechanism. We leverage the Unity3D game engine to build a simulator capable of introducing artificial networking failures and delays in the swarm. Using the simulator we validate our method on an example coordinated exploration task. We demonstrate that cost adaptation allows for more efficient and safer task completion under varying environment conditions and increasingly large swarm sizes. We release our simulator and code to the community for future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

Game-based learning or game-based teaching?

Emerging technologies for learning report - Article exploring games based learning and its potential for edcuatio

A conceptual architecture for interactive educational multimedia

Learning is more than knowledge acquisition; it often involves the active participation of the learner in a variety of knowledge- and skills-based learning and training activities. Interactive multimedia technology can support the variety of interaction channels and languages required to facilitate interactive learning and teaching. A conceptual architecture for interactive educational multimedia can support the development of such multimedia systems. Such an architecture needs to embed multimedia technology into a coherent educational context. A framework based on an integrated interaction model is needed to capture learning and training activities in an online setting from an educational perspective, to describe them in the human-computer context, and to integrate them with mechanisms and principles of multimedia interaction