LEGO couples agent-centric canonicalization with role-aware graph transformers in MAPPO to produce E(2)-equivariant, zero-shot scalable swarm control policies.
Multi-agent reinforcement learning: A review of challenges and applications,
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Local-Canonicalization Equivariant Graph Neural Networks for Sample-Efficient and Generalizable Swarm Robot Control
LEGO couples agent-centric canonicalization with role-aware graph transformers in MAPPO to produce E(2)-equivariant, zero-shot scalable swarm control policies.