arXiv subjects

Jingqi Li

Publications and source records attributed to Jingqi Li.

At least 19 recordsLinked to original sources

arXiv2026

Intent Demonstration in General-Sum Dynamic Games via Iterative Linear-Quadratic Approximations

Autonomous agents should coordinate effectively without prior knowledge of others' intents. While prior work has focused on intent inference, we address the inverse problem: how agents can strategically demonstrate their intents within general-sum dynamic games. We model this problem and propose an algorithm that balances intent demonstration with task performance. To handle nonlinear dynamic games with continuous state-action spaces, our method leverages iterative linear-quadratic game approximations and provides efficient intent-teaching guarantees: the uncertain agent's belief can be driven rapidly to the ground truth, while the demonstrating agent avoids expending effort on unnecessary belief alignment when it does not improve task performance. Theoretical analysis and hardware experiments confirm that our approach enables the demonstrating agent to reconcile task execution with belief alignment and strategically manage the information asymmetry among agents, even as its intent evolves during deployment.

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arXiv2026

From Global to Local: Hierarchical Probabilistic Verification for Reachability Learning

Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating learning-based approximations that may introduce unsafe errors or overly optimistic safe sets. In this work, we propose a hierarchical probabilistic verification framework for reachability learning that bridges offline global certification and online local refinement. We first construct a coarse, conservative under-approximation of the reach-avoid safe set using scenario optimization, providing an efficient global probabilistic certificate. We then introduce an online local refinement module that is structurally anchored to the global certificate and recovers regions excluded by the global verification. This refinement reduces conservatism while focusing computation on critical regions of the state space. Integrated with a condition-based switching mechanism between a learned reachability policy and a model-based controller, the proposed framework improves success rates in goal-reaching tasks with safety constraints, as demonstrated in drone-racing simulation experiments.

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arXiv2026

Multi-Agent Guided Policy Search for Non-Cooperative Dynamic Games

Multi-agent reinforcement learning (MARL) optimizes strategic interactions in non-cooperative dynamic games, where agents have misaligned objectives. However, data-driven methods such as multi-agent policy gradients (MA-PG) often suffer from instability and limit-cycle behaviors. Prior stabilization techniques typically rely on entropy-based exploration, which slows learning and increases variance. We propose a model-based approach that incorporates approximate priors into the reward function as regularization. In linear quadratic (LQ) games, we prove that such priors stabilize policy gradients and guarantee local exponential convergence to an approximate Nash equilibrium. We then extend this idea to infinite-horizon nonlinear games by introducing Multi-agent Guided Policy Search (MA-GPS), which constructs short-horizon local LQ approximations from trajectories of current policies to guide training. Experiments on nonlinear vehicle platooning and a six-player strategic basketball formation show that MA-GPS achieves faster convergence and more stable learning than existing MARL methods.

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arXiv2026

Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games

Decision-making in multi-player games can be extremely challenging, particularly under uncertainty. In this work, we propose a new sample-based approximation to a class of stochastic, general-sum, pure Nash games, where each player has an expected-value objective and a set of chance constraints. This new approximation scheme inherits the accuracy of objective approximation from the established sample average approximation (SAA) method and enjoys a feasibility guarantee derived from the scenario optimization literature. We characterize the sample complexity of this new game-theoretic approximation scheme, and observe that high accuracy usually requires a large number of samples, which results in a large number of sampled constraints. To accommodate this, we decompose the approximated game into a set of smaller games with few constraints for each sampled scenario, and propose a decentralized, consensus-based ADMM algorithm to efficiently compute a generalized Nash equilibrium (GNE) of the approximated game. We prove the convergence of our algorithm to a GNE and empirically demonstrate superior performance relative to a recent baseline algorithm based on ADMM and interior point method.

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arXiv2026

Who Bears the Burden? Learning Responsibility for Shared Constraints in Multi-Agent Reinforcement Learning

When multiple agents share a cost budget, a common Lagrange multiplier can enforce the aggregate constraint but does not determine how its penalty should be allocated across agents. Uniform penalties ignore heterogeneity in the rewards agents sacrifice, while agent-specific multipliers may still rely on the same aggregate cost signal. We introduce Lagrangian Responsibility Allocation (LiRA), which learns each agent's share of a common multiplier by optimizing social welfare over a finite training horizon. The multiplier enforces the aggregate budget, while responsibility shares redistribute its influence without modifying the original rewards or constraints. For convex games under standard regularity conditions, varying these shares induces a smooth family of normalized generalized Nash equilibria in which active constraints remain at their budgets while welfare varies. To optimize responsibility before convergence, we derive a welfare gradient that accounts for both learning updates and the induced change in data distribution. Across CityLearn, MABIM, Harvest, and MetaDrive, spanning 3 to 400 agents, LiRA improves average social welfare by up to 29% over uniform and agent-specific multiplier baselines. Grid and driving costs remain within budget, inventory violations decrease, and Harvest makes more effective use of available budget.

cs.LG↗

arXiv2026

$Q$ Can Play That Game: Online Fitted $Q$-Iteration for Continuous-Action Zero-Sum Markov Games with Convex-Concave Function Approximation

Zero-sum Markov games arise in a wide variety of sequential decision-making problems such as adversarial learning and planning against modeled uncertainties. However, prior work on finite-sample guarantees on the learned state-action value function ($Q$-function) for zero-sum Markov games is largely restricted to finite-action settings, or to continuous-action games in which agents have linear dynamics and quadratic rewards (i.e. linear-quadratic, or LQ, games). A central challenge in extending such guarantees to more general continuous-action zero-sum Markov games is that the associated Bellman operator involves a minimax problem that need not admit a tractable saddle-point solution. To this end, we first introduce a class of neural network function approximators for the $Q$-function that is convex-concave in the players' actions, which guarantees that this minimax problem admits a pure-strategy saddle point. We then study an online variant of fitted $Q$-iteration employing this function class and establish, to the best of our knowledge, the first finite-sample guarantees for non-LQ zero-sum Markov games with continuous states and actions. Our code can be found at https://github.com/CLeARoboticsLab/QCanPlayThatGame.

cs.GT↗

arXiv2026

Characterizing Identifiability and Generalization for Inverse Receding-Horizon Linear-Quadratic Regulator Problems

We consider the problem of objective inference in the context of receding-horizon linear-quadratic regulator (LQR). In this setting, we are given sequential state-action observations, where each observed action is the first control of a newly solved finite-horizon LQR problem. We characterize when the objective of that problem is uniquely identifiable from these observations and when additional observations provide no new information about the objective. We then analyze action prediction at unseen states and show that all objectives reproducing the observed actions yield identical actions throughout the affine hull of the observed states; outside this hull, we derive an upper bound on the prediction error. % and deriving a prediction-error bound outside this hull. Additionally, we show that, when only the linear objective terms are unknown, exact prediction holds at every state. Finally, numerical results show that, even under stochastic observation noise, re-optimizing an inferred objective enables accurate action prediction at unseen states across different planning horizons.

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arXiv2026

Active Calibration of Reachable Sets Using Approximate Pick-to-Learn

Reachability computations that rely on approximate or learned models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside the reachable set. However, producing reasonable probabilistic guarantees may require many samples, which can be costly. To remedy this, we propose that calibration of reachable sets be performed using active learning strategies. In order to produce a probabilistic guarantee on the active learning, we adapt the Pick-to-Learn algorithm, which produces generalization bounds for standard supervised learning, to the active learning setting. Our method, Approximate Pick-to-Learn, treats the process of choosing data samples as maximizing an approximate error function. Conformal prediction is used to ensure that the approximate error is close to the true model error. We demonstrate our technique for a simulated drone racing example in which learning is used to provide an initial guess of the reachable tube. Our method requires fewer samples to calibrate the model and provides more accurate sets than the baselines while also producing a novel generalization bound.

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arXiv2026

Deep Reinforcement Learning for Reach-Avoid-Stay Problems

Reach-Avoid-Stay (RAS) tasks are essential in applications where systems must safely reach a target set and remain within it under all bounded disturbances. Existing approaches either struggle to compute the maximal robust RAS set, the set of all states from which the RAS task is achievable, or are limited in handling general dynamic systems. To address these challenges, this paper proposes a two-step deep reinforcement learning framework that jointly learns the maximal robust RAS set and the corresponding control policy. The first step identifies the maximal robust control-invariant set within the target set and derives a policy that ensures the system remains within it. The second step computes the maximal robust reach-avoid (RA) set using this invariant set as the target, and it is proven that this RA set is equivalent to the maximal robust RAS set. Leveraging this result, a switching policy is constructed from the two step-wise policies, which constitutes a valid policy guaranteeing completion of the RAS task. Simulation results demonstrate that the proposed framework (1) computes the exact maximal robust RAS set in the absence of training errors, yielding the least restrictive RAS policy, and (2) identifies the RAS set with high accuracy while outperforming baseline methods on RAS tasks.

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arXiv2026

A Data-Driven Multimodal Method for Early Detection of Coordinated Abnormal Behaviors in Live-Streaming Platforms

With the rapid growth of live-streaming e-commerce and digital marketing, abnormal marketing behaviors have become increasingly concealed and coordinated across heterogeneous modalities, challenging platform governance and early risk identification. We propose MM-FGDNet, a data-driven multimodal framework for detecting abnormal behavior in large-scale live-streaming environments from complementary temporal-evolution and group-structure perspectives. A cross-modal temporal alignment module maps video, text, audio, and user behavior into a unified temporal semantic space. A temporal fraud-pattern module captures the progression from weak early signals to abrupt outbreaks, while a cooperative manipulation module identifies coordinated interactions among organized user groups and automated accounts. Experiments on real-world multi-platform live-streaming e-commerce datasets show that MM-FGDNet outperforms representative baselines, achieving an AUC of 0.927, F1 of 0.847, precision of 0.861, recall of 0.834, and an Early Detection Score of 0.689, while reducing false alarms. Ablation studies validate the contribution of each module, and cross-domain experiments demonstrate stable generalization to new streamers, product categories, and platforms. These results indicate that MM-FGDNet provides an effective and scalable solution for proactive detection of coordinated abnormal behavior in live-streaming systems.

cs.SI↗

arXiv2026

Level-2 Inverse Games for Inferring Agents' Estimates of Others' Objectives

Effectively interpreting strategic interactions among multiple agents requires us to infer each agent's objective from limited information. Existing inverse game-theoretic approaches frame this challenge in terms of a "level-1" inference problem, in which we take the perspective of a third-party observer and assume that individual agents share complete knowledge of one another's objectives. However, this assumption breaks down in decentralized, real-world scenarios like urban driving and bargaining, in which agents may act based on conflicting views of one another's objectives. We demonstrate the necessity of inferring agents' different estimates of each other's objectives through empirical examples, and by theoretically characterizing the prediction error of level-1 inference on fictitious gameplay data from linear-quadratic games. To address this fundamental issue, we propose a framework for level-2 inference to address the question: "What does each agent believe about other agents' objectives?" We prove that the level-2 inference problem is non-convex even in benign settings like linear-quadratic games, and we develop an efficient gradient-based approach for identifying local solutions. Experiments on a synthetic urban driving example show that our approach uncovers nuanced misalignments that level-1 methods miss.

cs.GT↗

arXiv2026

Random Permutations from Bott-Samelson Varieties

Motivated by a recent random pipe dream model, we study a family of probability distributions on $S_n$ arising from Bott--Samelson varieties over finite fields. More precisely, for a word $R$, we consider the Bott--Samelson map $π_R:\mathrm{BS}^R\to \mathcal{F}\ell_n$ and define a distribution $\mathbb{P}_{R,q}$ by counting the $\mathbb{F}_q$-points in the inverse images of Schubert cells. For a suitable choice of parameters $p_1=q/(1+q)$ and $p_2=1/q$, this construction recovers a special case of the random pipe dream distribution. The main problem considered in this note is to determine which combinatorial properties of a reduced word are detected by the distribution $\mathbb{P}_{R,q}$. We prove the stronger statement that, for arbitrary reduced words $R_1,R_2$, the equality $\mathbb{P}_{R_1,q}=\mathbb{P}_{R_2,q}$ as functions of $q$ holds if and only if $R_1$ and $R_2$ lie in the same commutation class. In particular, equality of distributions already forces the two words to represent the same permutation. The proof combines the Bott--Samelson interpretation with Demazure products, commutation-class invariants, and Hecke-algebraic arguments.

math.CO↗

arXiv2026

Efficiently Solving Mixed-Hierarchy Games with Quasi-Policy Approximations

Multi-robot coordination often exhibits hierarchical structure, with some robots' decisions depending on the planned behaviors of others. While game theory provides a principled framework for such interactions, existing solvers struggle to handle mixed information structures that combine simultaneous (Nash) and hierarchical (Stackelberg) decision-making. We study N-robot forest-structured mixed-hierarchy games, in which each robot acts as a Stackelberg leader over its subtree while robots in different branches interact via Nash equilibria. We derive the Karush-Kuhn-Tucker (KKT) first-order optimality conditions for this class of games and show that they involve increasingly high-order derivatives of robots' best-response policies as the hierarchy depth grows, rendering a direct solution intractable. To overcome this challenge, we introduce a quasi-policy approximation that removes higher-order policy derivatives and develop an inexact Newton method for efficiently solving the resulting approximated KKT systems. We prove local exponential convergence of the proposed algorithm for games with non-quadratic objectives and nonlinear constraints. The approach is implemented in a highly optimized Julia library (MixedHierarchyGames.jl) and evaluated in hardware and simulated multi-agent experiments, demonstrating real-time convergence for complex mixed-hierarchy information structures.

cs.GT↗

arXiv2026

Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination

Safe multi-agent coordination in uncertain environments can benefit from learning constraints from other agents. Implicitly communicating safety constraints through actions is a promising approach, allowing agents to coordinate and maintain safety without expensive communication channels. This paper introduces an online method to infer constraints from observing the safety-filtered actions of other agents. We approach the problem by using safety filters to ensure forward safety and exploit their structure to work backwards and infer constraints. We provide sufficient conditions under which we can infer these constraints and prove that our inference method converges. This constraint inference procedure is coupled with a decentralized planning method that ensures safety when the constraint activation distance is sufficiently large. We then empirically validate our method with Monte Carlo simulations and hardware experiments with quadruped robots.

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arXiv2026

Breaking Exponential Complexity in Games of Ordered Preference: A Tractable Reformulation

Games of ordered preference (GOOPs) model multi-player equilibrium problems in which each player maintains a distinct hierarchy of strictly prioritized objectives. Existing approaches solve GOOPs by deriving and enforcing the necessary optimality conditions that characterize lexicographically constrained Nash equilibria through a single-level reformulation. However, the number of primal and dual variables in the resulting KKT system grows exponentially with the number of preference levels, leading to severe scalability challenges. We derive a compact reformulation of these necessary conditions that preserves the essential primal stationarity structure across hierarchy levels, yielding a "reduced" KKT system whose size grows polynomially with both the number of players and the number of preference levels. The reduced system constitutes a relaxation of the complete KKT system, yet it remains a valid necessary condition for local GOOP equilibria. For GOOPs with quadratic objectives and linear constraints, we prove that the primal solution sets of the reduced and complete KKT systems coincide. More generally, for GOOPs with arbitrary (but smooth) nonlinear objectives and constraints, the reduced KKT conditions recover all local GOOP equilibria but may admit spurious non-equilibrium solutions. We introduce a second-order sufficient condition to certify when a candidate point corresponds to a local GOOP equilibrium. We also develop a primal-dual interior-point method for computing a local GOOP equilibrium with local quadratic convergence. The resulting framework enables scalable and efficient computation of GOOP equilibria beyond the tractable range of existing exponentially complex formulations.

cs.GT↗

arXiv2026

Generalized Information Gathering Under Dynamics Uncertainty

An agent operating in an unknown dynamical system must learn its dynamics from observations. Active information gathering accelerates this learning, but existing methods derive bespoke costs for specific modeling choices: dynamics models, belief update procedures, observation models, and planners. We present a unifying framework that decouples these choices from the information-gathering cost by explicitly exposing the causal dependencies between parameters, beliefs, and controls. Using this framework, we derive a general information-gathering cost based on Massey's directed information that assumes only Markov dynamics with additive noise and is otherwise agnostic to modeling choices. We prove that the mutual information cost used in existing literature is a special case of our cost. Then, we leverage our framework to establish an explicit connection between the mutual information cost and information gain in linearized Bayesian estimation, thereby providing theoretical justification for mutual information-based active learning approaches. Finally, we illustrate the practical utility of our framework through experiments spanning linear, nonlinear, and multi-agent systems.

cs.LG↗

arXiv2025

Training Report of TeleChat3-MoE

TeleChat3-MoE is the latest series of TeleChat large language models, featuring a Mixture-of-Experts (MoE) architecture with parameter counts ranging from 105 billion to over one trillion,trained end-to-end on Ascend NPU cluster. This technical report mainly presents the underlying training infrastructure that enables reliable and efficient scaling to frontier model sizes. We detail systematic methodologies for operator-level and end-to-end numerical accuracy verification, ensuring consistency across hardware platforms and distributed parallelism strategies. Furthermore, we introduce a suite of performance optimizations, including interleaved pipeline scheduling, attention-aware data scheduling for long-sequence training,hierarchical and overlapped communication for expert parallelism, and DVM-based operator fusion. A systematic parallelization framework, leveraging analytical estimation and integer linear programming, is also proposed to optimize multi-dimensional parallelism configurations. Additionally, we present methodological approaches to cluster-level optimizations, addressing host- and device-bound bottlenecks during large-scale training tasks. These infrastructure advancements yield significant throughput improvements and near-linear scaling on clusters comprising thousands of devices, providing a robust foundation for large-scale language model development on hardware ecosystems.

cs.CL↗

arXiv2025

Coordinating Distributed Energy Resources with Nodal Pricing in Distribution Networks: a Game-Theoretic Approach

We propose a real-time nodal pricing mechanism for cost minimization and voltage control in a distribution network with autonomous distributed energy resources and analyze the resulting market using stochastic game theory. Unlike existing methods, the proposed pricing scheme does not require device-aware centralized coordination or communication between prosumers. By developing new sufficient conditions under which a stochastic game is a Markov potential game, we show that the problem of computing an equilibrium for the proposed model is equivalent to solving a single-agent Markov Decision Process. These new conditions are general and may apply to other applications. We compute the equilibrium for an IEEE test system to empirically demonstrate the effectiveness of the pricing policy.

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