An Intention-Guided Reinforcement Learning Approach With Dirichlet Energy Constraint for Heterogeneous Multi-Robot Cooperation
Bibliographic record
Abstract
Multi-robot systems have demonstrated significant potential in accomplishing complex tasks, such as cooperative pursuit, search-and-rescue operations. The emergence of heterogeneous robots with diverse capabilities and characteristics shows superior adaptability compared with homogeneous teams. However, in practical applications, global information is typically inaccessible, and composite teams must contend with partial observability and coordination difficulties. To address the issue in heterogeneous multi-robot systems, we propose a novel <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">I</i>ntention-<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">G</i>uided reinforcement learning approach with <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">D</i>irichlet <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">E</i>nergy constraint (IGDE). Specifically, an intention-guided module is designed to derive long-horizon strategies based solely on local observations, enabling foresighted decision-making. In addition, a Dirichlet energy constraint is incorporated into the communication process to enhance the diversity of environmental cognition among different classes of robots. Heterogeneous robots perform class-aware actions driven by distinct cognitive representations, thereby enhancing cooperative efficiency. Notably, our approach alleviates the need of prior knowledge and heterogeneity modeling. Extensive comparative experiments and ablation studies verify the effectiveness of the proposed framework. Additionally, real-world deployment is conducted to demonstrate the practicality.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.002 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".