Researcher profile

Stefano V. Albrecht

Stefano V. Albrecht contributes to research discovery and scholarly infrastructure.

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Published work

12 published item(s)

preprint2026arXiv

Rollout Cards: A Reproducibility Standard for Agent Research

Reproducibility problems that have long affected machine learning and reinforcement learning are now surfacing in agent research: papers compare systems by reported scores while leaving the rollout records behind those scores difficult to inspect. For agentic tasks, this matters because the same behaviour can receive different reported scores when evaluations select different parts of a rollout or apply different reporting rules. In a structured audit of 50 popular training and evaluation repositories, we find that none report how many runs failed, errored, or were skipped alongside headline scores. We also document 37 cases where reporting rules can change task-success rates, cost/token accounting, or timing measurements for fixed evidence, sometimes dramatically. We treat rollout records, not reported scores, as the unit of reproducibility for agent research. We introduce rollout cards: publication bundles that preserve the rollout record and declare the views, reporting rules, and drops manifests behind reported scores. We validate rollout cards in two settings. First, four partial public releases in tool safety, multi-agent systems, theorem proving, and search let us compute analyses their original reports did not include. Second, re-grading preserved benchmark outputs across short-answer, code-generation, and tool-use tasks shows that changing only the reporting rule can change reported scores by 20.9 absolute percentage points and, in some cases, invert rankings of frontier models. We release a reference implementation integrated into Ergon, an open-source reinforcement learning gym, and publicly publish Ergon-produced rollout-card exports for benchmarks spanning tool use, software engineering, web interaction, multi-agent coordination, safety, and search to support future research.

preprint2022arXiv

A Human-Centric Method for Generating Causal Explanations in Natural Language for Autonomous Vehicle Motion Planning

Inscrutable AI systems are difficult to trust, especially if they operate in safety-critical settings like autonomous driving. Therefore, there is a need to build transparent and queryable systems to increase trust levels. We propose a transparent, human-centric explanation generation method for autonomous vehicle motion planning and prediction based on an existing white-box system called IGP2. Our method integrates Bayesian networks with context-free generative rules and can give causal natural language explanations for the high-level driving behaviour of autonomous vehicles. Preliminary testing on simulated scenarios shows that our method captures the causes behind the actions of autonomous vehicles and generates intelligible explanations with varying complexity.

preprint2022arXiv

A Survey of Ad Hoc Teamwork Research

Ad hoc teamwork is the research problem of designing agents that can collaborate with new teammates without prior coordination. This survey makes a two-fold contribution: First, it provides a structured description of the different facets of the ad hoc teamwork problem. Second, it discusses the progress that has been made in the field so far, and identifies the immediate and long-term open problems that need to be addressed in ad hoc teamwork.

preprint2022arXiv

Cooperative Marine Operations via Ad Hoc Teams

While research in ad hoc teamwork has great potential for solving real-world robotic applications, most developments so far have been focusing on environments with simple dynamics. In this article, we discuss how the problem of ad hoc teamwork can be of special interest for marine robotics and how it can aid marine operations. Particularly, we present a set of challenges that need to be addressed for achieving ad hoc teamwork in underwater environments and we discuss possible solutions based on current state-of-the-art developments in the ad hoc teamwork literature.

preprint2022arXiv

Decoupled Reinforcement Learning to Stabilise Intrinsically-Motivated Exploration

Intrinsic rewards can improve exploration in reinforcement learning, but the exploration process may suffer from instability caused by non-stationary reward shaping and strong dependency on hyperparameters. In this work, we introduce Decoupled RL (DeRL) as a general framework which trains separate policies for intrinsically-motivated exploration and exploitation. Such decoupling allows DeRL to leverage the benefits of intrinsic rewards for exploration while demonstrating improved robustness and sample efficiency. We evaluate DeRL algorithms in two sparse-reward environments with multiple types of intrinsic rewards. Our results show that DeRL is more robust to varying scale and rate of decay of intrinsic rewards and converges to the same evaluation returns than intrinsically-motivated baselines in fewer interactions. Lastly, we discuss the challenge of distribution shift and show that divergence constraint regularisers can successfully minimise instability caused by divergence of exploration and exploitation policies.

preprint2022arXiv

Deep Reinforcement Learning for Multi-Agent Interaction

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

preprint2022arXiv

Expressivity of Emergent Language is a Trade-off between Contextual Complexity and Unpredictability

Researchers are using deep learning models to explore the emergence of language in various language games, where agents interact and develop an emergent language to solve tasks. We focus on the factors that determine the expressivity of emergent languages, which reflects the amount of information about input spaces those languages are capable of encoding. We measure the expressivity of emergent languages based on the generalisation performance across different games, and demonstrate that the expressivity of emergent languages is a trade-off between the complexity and unpredictability of the context those languages emerged from. Another contribution of this work is the discovery of message type collapse, i.e. the number of unique messages is lower than that of inputs. We also show that using the contrastive loss proposed by Chen et al. (2020) can alleviate this problem.

preprint2022arXiv

Few-Shot Teamwork

We propose the novel few-shot teamwork (FST) problem, where skilled agents trained in a team to complete one task are combined with skilled agents from different tasks, and together must learn to adapt to an unseen but related task. We discuss how the FST problem can be seen as addressing two separate problems: one of reducing the experience required to train a team of agents to complete a complex task; and one of collaborating with unfamiliar teammates to complete a new task. Progress towards solving FST could lead to progress in both multi-agent reinforcement learning and ad hoc teamwork.

preprint2022arXiv

Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles

Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our system is based on the Bayesian inverse planning framework, which efficiently orchestrates map-based goal extraction, a classical control-based trajectory generator and a mixture of experts collection of light-weight neural networks specialised in motion profile prediction. In contrast to many alternative methods, this modularity helps isolate performance factors and better interpret results, without compromising performance. This system addresses multiple aspects of interest, namely multi-modality, motion profile uncertainty and trajectory physical feasibility. We report on several experiments with the popular highway dataset NGSIM, demonstrating state-of-the-art performance in terms of trajectory error. We also perform a detailed analysis of our system's components, along with experiments that stratify the data based on behaviours, such as change-lane versus follow-lane, to provide insights into the challenges in this domain. Finally, we present a qualitative analysis to show other benefits of our approach, such as the ability to interpret the outputs.

preprint2022arXiv

Perspectives on the System-level Design of a Safe Autonomous Driving Stack

Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches that embody safety by design. In this paper, we address some aspects of this challenge, with emphasis on issues of motion planning and prediction. We do this through description of novel approaches taken to solving selected sub-problems within an autonomous driving stack, in the process introducing the design philosophy being adopted within Five. This includes safe-by-design planning, interpretable as well as verifiable prediction, and modelling of perception errors to enable effective sim-to-real and real-to-sim transfer within the testing pipeline of a realistic autonomous system.

preprint2020arXiv

Stabilizing Generative Adversarial Networks: A Survey

Generative Adversarial Networks (GANs) are a type of generative model which have received much attention due to their ability to model complex real-world data. Despite their recent successes, the process of training GANs remains challenging, suffering from instability problems such as non-convergence, vanishing or exploding gradients, and mode collapse. In recent years, a diverse set of approaches have been proposed which focus on stabilizing the GAN training procedure. The purpose of this survey is to provide a comprehensive overview of the GAN training stabilization methods which can be found in the literature. We discuss the advantages and disadvantages of each approach, offer a comparative summary, and conclude with a discussion of open problems.

preprint2020arXiv

Variational Autoencoders for Opponent Modeling in Multi-Agent Systems

Multi-agent systems exhibit complex behaviors that emanate from the interactions of multiple agents in a shared environment. In this work, we are interested in controlling one agent in a multi-agent system and successfully learn to interact with the other agents that have fixed policies. Modeling the behavior of other agents (opponents) is essential in understanding the interactions of the agents in the system. By taking advantage of recent advances in unsupervised learning, we propose modeling opponents using variational autoencoders. Additionally, many existing methods in the literature assume that the opponent models have access to opponent's observations and actions during both training and execution. To eliminate this assumption, we propose a modification that attempts to identify the underlying opponent model using only local information of our agent, such as its observations, actions, and rewards. The experiments indicate that our opponent modeling methods achieve equal or greater episodic returns in reinforcement learning tasks against another modeling method.