MULTI-AGENT REINFORCEMENT LEARNING BY RECEIVING AND COMBINING HIDDEN LAYERS AT EACH AGENT

A local agent of a multi-agent reinforcement learning (MARL) system is disclosed, the local agent comprising a MARL network comprising at least one local hidden layer responsive to a plurality of local observations. A transmitter is configured to transmit an output of the local hidden layer to at least one remote agent, and a receiver is configured to receive an output of a remote hidden layer from the at least one remote agent. A combiner module is configured to combine the local hidden layer output with the remote hidden layer output to generate a combined hidden layer output, wherein the MARL network is configured to process the combined hidden layer output to generate at least one action value for the local agent.