# Heterogeneous-Agent Reinforcement Learning

arXiv: https://arxiv.org/abs/2304.09870 · HTML: https://mlsanity.com/paper/2304.09870/

## Key facts

- Cited by 69 papers in the map (data through 14 Oct 2026).
- Builds on 44 of its 64 references that are in the map.
- First posted on arXiv 19 Apr 2023.

## Builds on (most cited first, 30 of 44)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Trust Region Policy Optimization](https://mlsanity.com/paper/1502.05477/) (2015)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Asynchronous Methods for Deep Reinforcement Learning](https://mlsanity.com/paper/1602.01783/) (2016)
- [High-Dimensional Continuous Control Using Generalized Advantage Estimation](https://mlsanity.com/paper/1506.02438/) (2015)
- [Deep Reinforcement Learning with Double Q-learning](https://mlsanity.com/paper/1509.06461/) (2015)
- [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://mlsanity.com/paper/1706.02275/) (2017)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [The Surprising Effectiveness of PPO in Cooperative, Multi-Agent Games](https://mlsanity.com/paper/2103.01955/) (2021)
- [Dueling Network Architectures for Deep Reinforcement Learning](https://mlsanity.com/paper/1511.06581/) (2015)
- [Counterfactual Multi-Agent Policy Gradients](https://mlsanity.com/paper/1705.08926/) (2017)
- [QMIX: Monotonic Value Function Factorisation for Deep Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1803.11485/) (2018)
- [The StarCraft Multi-Agent Challenge](https://mlsanity.com/paper/1902.04043/) (2019)
- [Multi-Agent Reinforcement Learning: A Selective Overview of Theories and Algorithms](https://mlsanity.com/paper/1911.10635/) (2019)
- [Value-Decomposition Networks For Cooperative Multi-Agent Learning](https://mlsanity.com/paper/1706.05296/) (2017)
- [Is Independent Learning All You Need in the StarCraft Multi-Agent Challenge?](https://mlsanity.com/paper/2011.09533/) (2020)
- [Emergence of Grounded Compositional Language in Multi-Agent Populations](https://mlsanity.com/paper/1703.04908/) (2017)
- [Google Research Football: A Novel Reinforcement Learning Environment](https://mlsanity.com/paper/1907.11180/) (2019)
- [The Complexity of Decentralized Control of Markov Decision Processes](https://mlsanity.com/paper/1301.3836/) (2013)
- [PettingZoo: Gym for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2009.14471/) (2020)
- [Benchmarking Multi-Agent Deep Reinforcement Learning Algorithms in Cooperative Tasks](https://mlsanity.com/paper/2006.07869/) (2020)
- [Mean Field Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1802.05438/) (2018)
- [FACMAC: Factored Multi-Agent Centralised Policy Gradients](https://mlsanity.com/paper/2003.06709/) (2020)
- [RODE: Learning Roles to Decompose Multi-Agent Tasks](https://mlsanity.com/paper/2010.01523/) (2020)
- [SMACv2: An Improved Benchmark for Cooperative Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2212.07489/) (2022)
- [Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning](https://mlsanity.com/paper/2206.08686/) (2022)
- [Game-Theoretic Multiagent Reinforcement Learning](https://mlsanity.com/paper/2011.00583/) (2020)
- [Probabilistic Recursive Reasoning for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1901.09207/) (2019)

## Built on by (most cited first, 30 of 69)

- [Multi-agent Embodied AI: Advances and Future Directions](https://mlsanity.com/paper/2505.05108/) (2025)
- [Heterogeneous Agent Collaborative Reinforcement Learning](https://mlsanity.com/paper/2603.02604/) (2026)
- [Hierarchical Consensus-Based Multi-Agent Reinforcement Learning for Multi-Robot Cooperation Tasks](https://mlsanity.com/paper/2407.08164/) (2024)
- [HyperMARL: Adaptive Hypernetworks for Multi-Agent RL](https://mlsanity.com/paper/2412.04233/) (2024)
- [Sable: a Performant, Efficient and Scalable Sequence Model for MARL](https://mlsanity.com/paper/2410.01706/) (2024)
- [Dispelling the Mirage of Progress in Offline MARL through Standardised Baselines and Evaluation](https://mlsanity.com/paper/2406.09068/) (2024)
- [Revisiting Multi-Agent World Modeling from a Diffusion-Inspired Perspective](https://mlsanity.com/paper/2505.20922/) (2025)
- [HiMA-Ecom: Enabling Joint Training of Hierarchical Multi-Agent E-commerce Assistants](https://mlsanity.com/paper/2506.19846/) (2025)
- [SustainDC: Benchmarking for Sustainable Data Center Control](https://mlsanity.com/paper/2408.07841/) (2024)
- [OM2P: Offline Multi-Agent Mean-Flow Policy](https://mlsanity.com/paper/2508.06269/) (2025)
- [Aligning Individual and Collective Objectives in Multi-Agent Cooperation](https://mlsanity.com/paper/2402.12416/) (2024)
- [Safe Multi-Agent Reinforcement Learning with Convergence to Generalized Nash Equilibrium](https://mlsanity.com/paper/2411.15036/) (2024)
- [Coordination Failure in Cooperative Offline MARL](https://mlsanity.com/paper/2407.01343/) (2024)
- [SWIRL: A Staged Workflow for Interleaved Reinforcement Learning in Mobile GUI Control](https://mlsanity.com/paper/2508.20018/) (2025)
- [Joint Computation Offloading and Resource Allocation for Uncertain Maritime MEC via Cooperation of UAVs and Vessels](https://mlsanity.com/paper/2506.15225/) (2025)
- [Multi-level Advantage Credit Assignment for Cooperative Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2508.06836/) (2025)
- [Diffusing to Coordinate: Efficient Online Multi-Agent Diffusion Policies](https://mlsanity.com/paper/2602.18291/) (2026)
- [On the Convergence Rates of Federated Q-Learning across Heterogeneous Environments](https://mlsanity.com/paper/2409.03897/) (2024)
- [Guided Collaboration in Heterogeneous LLM-Based Multi-Agent Systems via Entropy-Based Understanding Assessment and Experience Retrieval](https://mlsanity.com/paper/2602.13639/) (2026)
- [Learning Approximate Nash Equilibria in Cooperative Multi-Agent Reinforcement Learning via Mean-Field Subsampling](https://mlsanity.com/paper/2603.03759/) (2026)
- [Bridging MARL to SARL: An Order-Independent Multi-Agent Transformer via Latent Consensus](https://mlsanity.com/paper/2604.13472/) (2026)
- [Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search](https://mlsanity.com/paper/2412.20049/) (2024)
- [Generative AI-Enhanced Cooperative MEC of UAVs and Ground Stations for Unmanned Surface Vehicles](https://mlsanity.com/paper/2502.08119/) (2025)
- [Learning Dexterous Bimanual Catch Skills through Adversarial-Cooperative Heterogeneous-Agent Reinforcement Learning](https://mlsanity.com/paper/2502.11437/) (2025)
- [Toward Adaptable Multi-Agent Reinforcement Learning: An Assumption-Aware Review](https://mlsanity.com/paper/2507.10142/) (2025)
- [The Heterogeneous Multi-Agent Challenge](https://mlsanity.com/paper/2509.19512/) (2025)
- [HARL-A: An Extensible Benchmark Framework for Heterogeneous Multi-Agent Adversarial Reinforcement Learning in IsaacLab](https://mlsanity.com/paper/2510.01264/) (2025)
- [LLMs as Policy-Agnostic Teammates: A Case Study in Human Proxy Design for Heterogeneous Agent Teams](https://mlsanity.com/paper/2510.06151/) (2025)
- [Empirical Study on Robustness and Resilience in Cooperative Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2510.11824/) (2025)
- [From Solo to Symphony: Orchestrating Multi-Agent Collaboration with Single-Agent Demos](https://mlsanity.com/paper/2511.02762/) (2025)

## Abstract (arXiv)

The necessity for cooperation among intelligent machines has popularised cooperative multi-agent reinforcement learning (MARL) in AI research. However, many research endeavours heavily rely on parameter sharing among agents, which confines them to only homogeneous-agent setting and leads to training instability and lack of convergence guarantees. To achieve effective cooperation in the general heterogeneous-agent setting, we propose Heterogeneous-Agent Reinforcement Learning (HARL) algorithms that resolve the aforementioned issues. Central to our findings are the multi-agent advantage decomposition lemma and the sequential update scheme. Based on these, we develop the provably correct Heterogeneous-Agent Trust Region Learning (HATRL), and derive HATRPO and HAPPO by tractable approximations. Furthermore, we discover a novel framework named Heterogeneous-Agent Mirror Learning (HAML), which strengthens theoretical guarantees for HATRPO and HAPPO and provides a general template for cooperative MARL algorithmic designs. We prove that all algorithms derived from HAML inherently enjoy monotonic improvement of joint return and convergence to Nash Equilibrium. As its natural outcome, HAML validates more novel algorithms in addition to HATRPO and HAPPO, including HAA2C, HADDPG, and HATD3, which generally outperform their existing MA-counterparts. We comprehensively test HARL algorithms on six challenging benchmarks and demonstrate their superior effectiveness and stability for coordinating heterogeneous agents compared to strong baselines such as MAPPO and QMIX.