Pedro A. Santos

Diogo S. Carvalho, Pedro A. Santos, Francisco S. Melo

We study the convergence of $Q$-learning with linear function approximation. Our key contribution is the introduction of a novel multi-Bellman operator that extends the traditional Bellman operator. By exploring the properties of this operator, we identify conditions under which the projected multi-Bellman operator becomes contractive, providing improved fixed-point guarantees compared to the Bellman operator. To leverage these insights, we propose the multi $Q$-learning algorithm with linear function approximation. We demonstrate that this algorithm converges to the fixed-point of the projected multi-Bellman operator, yielding solutions of arbitrary accuracy. Finally, we validate our approach by applying it to well-known environments, showcasing the effectiveness and applicability of our findings.

Manuel Guimarães, Joana Campos, Pedro A. Santos et al.

The deployment of Socially Intelligent Agents (SIAs) in learning environments has proven to have several advantages in different areas of application. Social Agent Authoring Tools allow scenario designers to create tailored experiences with high control over SIAs behaviour, however, on the flip side, this comes at a cost as the complexity of the scenarios and its authoring can become overbearing. In this paper we introduce the concept of Explainable Social Agent Authoring Tools with the goal of analysing if authoring tools for social agents are understandable and interpretable. To this end we examine whether an authoring tool, FAtiMA-Toolkit, is understandable and its authoring steps interpretable, from the point-of-view of the author. We conducted two user studies to quantitatively assess the Interpretability, Comprehensibility and Transparency of FAtiMA-Toolkit from the perspective of a scenario designer. One of the key findings is the fact that FAtiMA-Toolkit's conceptual model is, in general, understandable, however the emotional-based concepts were not as easily understood and used by the authors. Although there are some positive aspects regarding the explainability of FAtiMA-Toolkit, there is still progress to be made to achieve a fully explainable social agent authoring tool. We provide a set of key concepts and possible solutions that can guide developers to build such tools.

João Dias, Pedro A. Santos, Nuno Cordeiro et al.

While Artificial Intelligence applied to the legal domain is a topic with origins in the last century, recent advances in Artificial Intelligence are posed to revolutionize it. This work presents an overview and contextualizes the main advances on the field of Natural Language Processing and how these advances have been used to further the state of the art in legal text analysis.

Manuel Guimarães, Pedro A. Santos, Arnav Jhala

This work presents an implementation of a social architecture model for authoring Non-Player Character (NPC) in open world games inspired in academic research on agentbased modeling. Believable NPC authoring is burdensome in terms of rich dialogue and responsive behaviors. We briefly present the characteristics and advantages of using a social agent architecture for this task and describe an implementation of a social agent architecture CiF-CK released as a mod Social NPCs for The Elder Scrolls V: Skyrim

Pedro P. Santos, Diogo S. Carvalho, Miguel Vasco et al.

We introduce hybrid execution in multi-agent reinforcement learning (MARL), a new paradigm in which agents aim to successfully complete cooperative tasks with arbitrary communication levels at execution time by taking advantage of information-sharing among the agents. Under hybrid execution, the communication level can range from a setting in which no communication is allowed between agents (fully decentralized), to a setting featuring full communication (fully centralized), but the agents do not know beforehand which communication level they will encounter at execution time. To formalize our setting, we define a new class of multi-agent partially observable Markov decision processes (POMDPs) that we name hybrid-POMDPs, which explicitly model a communication process between the agents. We contribute MARO, an approach that makes use of an auto-regressive predictive model, trained in a centralized manner, to estimate missing agents' observations at execution time. We evaluate MARO on standard scenarios and extensions of previous benchmarks tailored to emphasize the negative impact of partial observability in MARL. Experimental results show that our method consistently outperforms relevant baselines, allowing agents to act with faulty communication while successfully exploiting shared information.

Helena Mascarenhas, Pedro A. Santos, Markus Seidel

Criteria for the stability of finite sections of a large class of convolution type operators on $L^p(\mathbb{R})$ are obtained. In this class almost all classical symbols are permitted, namely operators of multiplication with functions in $[\textrm{PC} ,\textrm{SO}, L^\infty_0]$ and convolution operators (as well as Wiener-Hopf and Hankel operators) with symbols in $[\textrm{PC},\textrm{SO},\textrm{AP},\textrm{BUC}]_p$. We use a simpler and more powerful algebraic technique than all previous works: the application of $\mathcal{P}$-theory together with the rich sequences concept and localization. Beyond stability we study Fredholm theory in sequence algebras. In particular, formulas for the asymptotic behavior of approximation numbers and Fredholm indices are given.

Maria Duarte, Pedro A. Santos, João Dias et al.

Being able to clearly interpret legal texts and fully understanding our rights, obligations and other legal norms has become progressively more important in the digital society. However, simply giving citizens access to the laws is not enough, as there is a need to provide meaningful information that cater to their specific queries and needs. For this, it is necessary to extract the relevant semantic information present in legal texts. Thus, we introduce the SNR (Semantic Norm Recognition) system, an automatic semantic information extraction system trained on a domain-specific (legal) text corpus taken from Portuguese Consumer Law. The SNR system uses the Portuguese Bert (BERTimbau) and was trained on a legislative Portuguese corpus. We demonstrate how our system achieved good results (81.44\% F1-score) on this domain-specific corpus, despite existing noise, and how it can be used to improve downstream tasks such as information retrieval.

Vasco Nunes, João Dias, Pedro A. Santos

Maps are a very important component of strategy games, and a time-consuming task if done by hand. Maps generated by traditional PCG techniques such as Perlin noise or tile-based PCG techniques look unnatural and unappealing, thus not providing the best user experience for the players. However it is possible to have a generator that can create realistic and natural images of maps, given that it is trained how to do so. We propose a model for the generation of maps based on Generative Adversarial Networks (GAN). In our implementation we tested out different variants of GAN-based networks on a dataset of heightmaps. We conducted extensive empirical evaluation to determine the advantages and properties of each approach. The results obtained are promising, showing that it is indeed possible to generate realistic looking maps using this type of approach.

Samuel Mascarenhas, Manuel Guimarães, Pedro A. Santos et al.

More than a decade has passed since the development of FearNot!, an application designed to help children deal with bullying through role-playing with virtual characters. It was also the application that led to the creation of FAtiMA, an affective agent architecture for creating autonomous characters that can evoke empathic responses. In this paper, we describe FAtiMA Toolkit, a collection of open-source tools that is designed to help researchers, game developers and roboticists incorporate a computational model of emotion and decision-making in their work. The toolkit was developed with the goal of making FAtiMA more accessible, easier to incorporate into different projects and more flexible in its capabilities for human-agent interaction, based upon the experience gathered over the years across different virtual environments and human-robot interaction scenarios. As a result, this work makes several different contributions to the field of Agent-Based Architectures. More precisely, FAtiMA Toolkit's library based design allows developers to easily integrate it with other frameworks, its meta-cognitive model affords different internal reasoners and affective components and its explicit dialogue structure gives control to the author even within highly complex scenarios. To demonstrate the use of FAtiMA Toolkit, several different use cases where the toolkit was successfully applied are described and discussed.

Guilherme Palma, Pedro A. Santos, João Dias

Hex and Counter Wargames are adversarial two-player simulations of real military conflicts requiring complex strategic decision-making. Unlike classical board games, these games feature intricate terrain/unit interactions, unit stacking, large maps of varying sizes, and simultaneous move and combat decisions involving hundreds of units. This paper introduces a novel system designed to address the strategic complexity of Hex and Counter Wargames by integrating cutting-edge advancements in Recurrent Neural Networks with AlphaZero, a reliable modern Reinforcement Learning algorithm. The system utilizes a new Neural Network architecture developed from existing research, incorporating innovative state and action representations tailored to these specific game environments. With minimal training, our solution has shown promising results in typical scenarios, demonstrating the ability to generalize across different terrain and tactical situations. Additionally, we explore the system's potential to scale to larger map sizes. The developed system is openly accessible, facilitating continued research and exploration within this challenging domain.

Ricardo Quinteiro, Francisco S. Melo, Pedro A. Santos

This paper addresses the problem of optimal control using search trees. We start by considering multi-armed bandit problems with continuous action spaces and propose LD-HOO, a limited depth variant of the hierarchical optimistic optimization (HOO) algorithm. We provide a regret analysis for LD-HOO and show that, asymptotically, our algorithm exhibits the same cumulative regret as the original HOO while being faster and more memory efficient. We then propose a Monte Carlo tree search algorithm based on LD-HOO for optimal control problems and illustrate the resulting approach's application in several optimal control problems.

Diogo S. Carvalho, Joana Campos, Manuel Guimarães et al.

Autonomous agents that can engage in social interactions witha human is the ultimate goal of a myriad of applications. A keychallenge in the design of these applications is to define the socialbehavior of the agent, which requires extensive content creation.In this research, we explore how we can leverage current state-of-the-art tools to make inferences about the emotional state ofa character in a story as events unfold, in a coherent way. Wepropose a character role-labelling approach to emotion tracking thataccounts for the semantics of emotions. We show that by identifyingactors and objects of events and considering the emotional stateof the characters, we can achieve better performance in this task,when compared to end-to-end approaches.

Matilde Tristany Farinha, Sérgio Pequito, Pedro A. Santos et al.

Artificial neural networks, one of the most successful approaches to supervised learning, were originally inspired by their biological counterparts. However, the most successful learning algorithm for artificial neural networks, backpropagation, is considered biologically implausible. We contribute to the topic of biologically plausible neuronal learning by building upon and extending the equilibrium propagation learning framework. Specifically, we introduce: a new neuronal dynamics and learning rule for arbitrary network architectures; a sparsity-inducing method able to prune irrelevant connections; a dynamical-systems characterization of the models, using Lyapunov theory.

Alexei Yu. Karlovich, Helena Mascarenhas, Pedro A. Santos

We prove the applicability of the finite section method to an arbitrary operator in the Banach algebra generated by the operators of multiplication by piecewise continuous functions and the convolution operators with symbols in the algebra generated by piecewise continuous and slowly oscillating Fourier multipliers on $L^p(\mathbb{R})$, $1<p<\infty$.