A shared consensus vector, generated before any action, lets cooperative agents act simultaneously and lets the whole joint policy be trained with single-agent PPO.
Implicit learning dynamics in stackelberg games: Equilibria characterization, convergence analysis, and empirical study
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Bridging MARL to SARL: An Order-Independent Multi-Agent Transformer via Latent Consensus
A shared consensus vector, generated before any action, lets cooperative agents act simultaneously and lets the whole joint policy be trained with single-agent PPO.