Audio tagging aims to infer descriptive labels from audio clips and it is challenging due to the limited size of data and noisy labels. The solution to the tagging task is described in this paper. The main contributions include the following: an ensemble learning framework is applied to ensemble statistical features and the outputs from the deep classifiers, with the goal to utilize complementary information. Moreover, a sample re-weight strategy is employed to address the noisy label problem within the framework. The approach achieves a mean average precision of 0.958, outperforming the baseline system with a large margin.

Deep reinforcement learning has been demonstrated to be an effective solution to the multi-robot collision avoidance problem. However, with existing methods, robots typically generate actions only based on local observations, sometimes augmented with global communication. Their performance deteriorates in limited bandwidth environments and complex scenarios with various obstacles and high robot density. We propose SelComm, a selective communication framework to generate cooperative and collision-free actions for robots in multi-robot navigation tasks. Specifically, we develop a decentralized message selector, enabling each robot to calculate relations with other robots using both agent-level information and sensor-level information, and select the most valuable messages to meet the bandwidth limitation. Then we introduce the attentional communication channel for efficient communication. Our experimental evaluations based on various scenarios demonstrate that SelComm learns more cooperative behaviors and outperforms state-of-the-art methods in limited bandwidth environments and complex scenarios.

In a decentralized multi-robot exploration problem, the robots have to cooperate effectively to map a strange environment as soon as possible without a centralized controller. In the past few decades, a set of “human-designed” cooperation strategies have been proposed to address this problem, such as the well-known frontier-based approach. However, many real-world settings, especially the ones that are constantly changing, are too complex for humans to design efficient and decentralized strategies. This paper presents a novel approach, the Attention-based Communication neural network (CommAttn), to “learn” the cooperation strategies automatically in the decentralized multi-robot exploration problem. The communication neural network enables the robots to learn the cooperation strategies with explicit communication. Moreover, the attention mechanism we introduced additionally can precisely calculate whether the communication is necessary for each pair of agents by considering the relevance of each received message, which enables the robots to communicate only with the necessary partners. The empirical results on a simulated multi-robot disaster exploration scenario demonstrate that our proposal outperforms the traditional “human-designed” methods, as well as other competing “learning-based” methods in the exploration task.

Recently, deep reinforcement learning (RL) algorithms have achieved significant progress in the multi-agent domain. However, training for increasingly complex tasks would be time-consuming and resource intensive. To alleviate this problem, efficient leveraging of historical experience is essential, which is under-explored in previous studies because most existing methods fail to achieve this goal in a continuously dynamic system owing to their complicated design. In this paper, we propose a method for knowledge reuse called “KnowRU”, which can be easily deployed in the majority of multi-agent reinforcement learning (MARL) algorithms without requiring complicated hand-coded design. We employ the knowledge distillation paradigm to transfer knowledge among agents to shorten the training phase for new tasks while improving the asymptotic performance of agents. To empirically demonstrate the robustness and effectiveness of KnowRU, we perform extensive experiments on state-of-the-art MARL algorithms in collaborative and competitive scenarios. The results show that KnowRU outperforms recently reported methods and not only successfully accelerates the training phase, but also improves the training performance, emphasizing the importance of the proposed knowledge reuse for MARL.