Shuai Zhou

Shuai Zhou, Shizhe Zhao, Zhongqiang Ren

Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective starting locations to their respective goal locations while minimizing path costs. Although many MAPF algorithms were developed and can handle up to thousands of agents, they usually rely on the assumption that each action of the agent takes a time unit, and the actions of all agents are synchronized in a sense that the actions of agents start at the same discrete time step, which may limit their use in practice. Only a few algorithms were developed to address asynchronous actions, and they all lie on one end of the spectrum, focusing on finding optimal solutions with limited scalability. This paper develops new planners that lie on the other end of the spectrum, trading off solution quality for scalability, by finding an unbounded sub-optimal solution for many agents. Our method leverages both search methods (LSS) in handling asynchronous actions and rule-based planning methods (PIBT) for MAPF. We analyze the properties of our method and test it against several baselines with up to 1000 agents in various maps. Given a runtime limit, our method can handle an order of magnitude more agents than the baselines with about 25% longer makespan.

Run Su, Hao Fu, Shuai Zhou et al.

Offline reinforcement learning (RL) has emerged as a promising framework for addressing robot social navigation challenges. However, inherent uncertainties in pedestrian behavior and limited environmental interaction during training often lead to suboptimal exploration and distributional shifts between offline training and online deployment. To overcome these limitations, this paper proposes a novel offline-to-online fine-tuning RL algorithm for robot social navigation by integrating Return-to-Go (RTG) prediction into a causal Transformer architecture. Our algorithm features a spatiotem-poral fusion model designed to precisely estimate RTG values in real-time by jointly encoding temporal pedestrian motion patterns and spatial crowd dynamics. This RTG prediction framework mitigates distribution shift by aligning offline policy training with online environmental interactions. Furthermore, a hybrid offline-online experience sampling mechanism is built to stabilize policy updates during fine-tuning, ensuring balanced integration of pre-trained knowledge and real-time adaptation. Extensive experiments in simulated social navigation environments demonstrate that our method achieves a higher success rate and lower collision rate compared to state-of-the-art baselines. These results underscore the efficacy of our algorithm in enhancing navigation policy robustness and adaptability. This work paves the way for more reliable and adaptive robotic navigation systems in real-world applications.

Xiaolin Chen, Shuai Zhou, Bei guan et al.

The increasing concerns about data privacy and security drive an emerging field of studying privacy-preserving machine learning from isolated data sources, i.e., federated learning. A class of federated learning, vertical federated learning, where different parties hold different features for common users, has a great potential of driving a great variety of business cooperation among enterprises in many fields. In machine learning, decision tree ensembles such as gradient boosting decision trees (GBDT) and random forest are widely applied powerful models with high interpretability and modeling efficiency. However, stateof-art vertical federated learning frameworks adapt anonymous features to avoid possible data breaches, makes the interpretability of the model compromised. To address this issue in the inference process, in this paper, we firstly make a problem analysis about the necessity of disclosure meanings of feature to Guest Party in vertical federated learning. Then we find the prediction result of a tree could be expressed as the intersection of results of sub-models of the tree held by all parties. With this key observation, we protect data privacy and allow the disclosure of feature meaning by concealing decision paths and adapt a communication-efficient secure computation method for inference outputs. The advantages of Fed-EINI will be demonstrated through both theoretical analysis and extensive numerical results. We improve the interpretability of the model by disclosing the meaning of features while ensuring efficiency and accuracy.