Heterogeneous Multi-Robot Reinforcement Learning

  title={Heterogeneous Multi-Robot Reinforcement Learning},
  author={Matteo Bettini and Ajay Shankar and Amanda Prorok},
Cooperative multi-robot tasks can benefit from heterogeneity in the robots’ physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy heterogeneity, and typically constrain agents to share neural network parameters. This enforced homogeneity limits application in cases where the tasks benefit from heterogeneous behaviors. In this paper, we crystallize the role of heterogeneity in MARL… 

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