TASK DEFINITION: In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
PROBLEM: Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous, non-anonymous, or organized in groups. Although powerful solvers for this abstract problem exist, they make simplifying assumptions by ignoring kinematic constraints, making it difficult to use the resulting plans on actual robots. In this paper, we present a solution which takes kinematic constraints, such as maximum velocities, into account, while guaranteeing a user-specified minimum safety distance between robots. We demonstrate our approach in simulation and on real robots in 2D and 3D environments.

SOLUTION: Path Planning With Kinematic Constraints For Robot Groups

PROBLEM: We explore deep reinforcement learning methods for multi-agent domains. We begin by analyzing the difficulty of traditional algorithms in the multi-agent case: Q-learning is challenged by an inherent non-stationarity of the environment, while policy gradient suffers from a variance that increases as the number of agents grows. We then present an adaptation of actor-critic methods that considers action policies of other agents and is able to successfully learn policies that require complex multiagent coordination. Additionally, we introduce a training regimen utilizing an ensemble of policies for each agent that leads to more robust multi-agent policies. We show the strength of our approach compared to existing methods in cooperative as well as competitive scenarios, where agent populations are able to discover various physical and informational coordination strategies.

SOLUTION: Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments

PROBLEM: Machine-learning techniques are widely used in security-related applications, like spam and malware detection. However, in such settings, they have been shown to be vulnerable to adversarial attacks, including the deliberate manipulation of data at test time to evade detection. In this work, we focus on the vulnerability of linear classifiers to evasion attacks. This can be considered a relevant problem, as linear classifiers have been increasingly used in embedded systems and mobile devices for their low processing time and memory requirements. We exploit recent findings in robust optimization to investigate the link between regularization and security of linear classifiers, depending on the type of attack. We also analyze the relationship between the sparsity of feature weights, which is desirable for reducing processing cost, and the security of linear classifiers. We further propose a novel octagonal regularizer that allows us to achieve a proper trade-off between them. Finally, we empirically show how this regularizer can improve classifier security and sparsity in real-world application examples including spam and malware detection.

SOLUTION:
On Security and Sparsity of Linear Classifiers for Adversarial Settings