On-line estimators for ad-hoc task execution: learning types and parameters of teammates for effective teamwork

摘要

It is essential for agents to work together with others to accomplish common objectives, without pre-programmed coordination rules or previous knowledge of the current teammates, a challenge known as ad-hoc teamwork. In these systems, an agent estimates the algorithm of others in an on-line manner in order to decide its own actions for effective teamwork. A common approach is to assume a set of possible types and parameters for teammates, reducing the problem into estimating parameters and calculating distributions over types. Meanwhile, agents often must coordinate in a decentralised fashion to complete tasks that are displaced in an environment (e.g., in foraging, de-mining, rescue or fire control), where each member autonomously chooses which task to perform. By harnessing this knowledge, better estimation techniques can be developed. Hence, we present On-line Estimators for Ad-hoc Task Execution (OEATE), a novel algorithm for teammates’ type and parameter estimation in decentralised task execution. We show theoretically that our algorithm can converge to perfect estimations, under some assumptions, as the number of tasks increases. Additionally, we run experiments for a diverse configuration set in the level-based foraging domain over full and partial observability, and in a “capture the prey” game. We obtain a lower error in parameter and type estimation than previous approaches and better performance in the number of completed tasks for some cases. In fact, we evaluate a variety of scenarios via the increasing number of agents, scenario sizes, number of items, and number of types, showing that we can overcome previous works in most cases considering the estimation process, besides robustness to an increasing number of types and even to an erroneous set of potential types.