6 papers
AdvEvo-MARL: Shaping Internalized Safety through Adversarial Co-Evolution in Multi-Agent Reinforcement Learning
Zhenyu Pan, Yiting Zhang, Zhuo Liu +13
LLM-based multi-agent systems excel at planning, tool use, and role coordination, but their openness and interaction complexity also expose them to jailbreak, prompt-injection, and…
Evo-MARL: Co-Evolutionary Multi-Agent Reinforcement Learning for Internalized Safety
Zhenyu Pan, Yiting Zhang, Yutong Zhang +8
Multi-agent systems (MAS) built on multimodal large language models exhibit strong collaboration and performance. However, their growing openness and interaction complexity pose se…
XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search
Yiting Zhang, Shichen Li, Elena Shrestha
Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occl…
Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
Yiting Zhang, Shichen Li
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focu…
Achilles Heel of Distributed Multi-Agent Systems
Yiting Zhang, Yijiang Li, Tianwei Zhao +3
Multi-agent system (MAS) has demonstrated exceptional capabilities in addressing complex challenges, largely due to the integration of multiple large language models (LLMs). Howeve…
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei +4
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant…