Related papers: A Quantitative Comparison of Centralised and Distr…

Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinforcement learning, together with the development of robust…

Centralised training with decentralised execution (CT-DE) serves as the foundation of many leading multi-agent reinforcement learning (MARL) algorithms. Despite its popularity, it suffers from a critical drawback due to its reliance on…

In this paper, we propose a distributed zeroth-order policy optimization method for Multi-Agent Reinforcement Learning (MARL). Existing MARL algorithms often assume that every agent can observe the states and actions of all the other agents…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…

Multi-agent reinforcement learning (MARL) has exploded in popularity in recent years. While numerous approaches have been developed, they can be broadly categorized into three main types: centralized training and execution (CTE),…

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

[Zhang, ICML 2018] provided the first decentralized actor-critic algorithm for multi-agent reinforcement learning (MARL) that offers convergence guarantees. In that work, policies are stochastic and are defined on finite action spaces. We…

Centralized Training with Decentralized Execution (CTDE) has recently emerged as a popular framework for cooperative Multi-Agent Reinforcement Learning (MARL), where agents can use additional global state information to guide training in a…

Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…

One of the challenges for multi-agent reinforcement learning (MARL) is designing efficient learning algorithms for a large system in which each agent has only limited or partial information of the entire system. While exciting progress has…

In this work, we investigate constrained multi-agent reinforcement learning (CMARL), where agents collaboratively maximize the sum of their local objectives while satisfying individual safety constraints. We propose a framework where agents…

We present trust region bounds for optimizing decentralized policies in cooperative Multi-Agent Reinforcement Learning (MARL), which holds even when the transition dynamics are non-stationary. This new analysis provides a theoretical…

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

The recent success of single-agent reinforcement learning (RL) in Internet of things (IoT) systems motivates the study of multi-agent reinforcement learning (MARL), which is more challenging but more useful in large-scale IoT. In this…

Multi-agent Reinforcement learning (MARL) studies the behaviour of multiple learning agents that coexist in a shared environment. MARL is more challenging than single-agent RL because it involves more complex learning dynamics: the…

A central problem in the theory of multi-agent reinforcement learning (MARL) is to understand what structural conditions and algorithmic principles lead to sample-efficient learning guarantees, and how these considerations change as we move…

Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…

We introduce hybrid execution in multi-agent reinforcement learning (MARL), a new paradigm in which agents aim to successfully complete cooperative tasks with arbitrary communication levels at execution time by taking advantage of…

In this paper, a novel Multi-agent Reinforcement Learning (MARL) approach, Multi-Agent Continuous Dynamic Policy Gradient (MACDPP) was proposed to tackle the issues of limited capability and sample efficiency in various scenarios controlled…