├── .github └── workflows │ └── close_stale.yaml ├── .gitignore ├── LICENSE ├── README.md ├── baselines ├── README.md ├── dgn │ ├── LICENSE │ ├── README.md │ └── dgn_navigation │ │ ├── buffer.py │ │ ├── config.py │ │ ├── main.py │ │ ├── model.py │ │ ├── runner.py │ │ └── util.py ├── gpg │ ├── gym_formation │ │ ├── .gitignore │ │ ├── README.md │ │ ├── gym_flock │ │ │ ├── __init__.py │ │ │ └── envs │ │ │ │ ├── __init__.py │ │ │ │ ├── consensus.py │ │ │ │ ├── constr_formation_flying.py │ │ │ │ ├── constr_formation_flying_inference.py │ │ │ │ ├── formation_flying.cfg │ │ │ │ ├── formation_flying.py │ │ │ │ ├── formation_flying_copy.py │ │ │ │ ├── lqr.py │ │ │ │ ├── mod_formation_flying.py │ │ │ │ ├── oneagent.py │ │ │ │ ├── params_consensus.cfg │ │ │ │ ├── params_flock.cfg │ │ │ │ ├── params_lqr.cfg │ │ │ │ └── utils.py │ │ └── setup.py │ ├── rl_formation │ │ ├── README.txt │ │ ├── linear_policy.py │ │ ├── main.py │ │ ├── make_g.py │ │ ├── parameter_reload.py │ │ ├── policy.py │ │ ├── test.py │ │ └── utils.py │ └── rl_navigation │ │ ├── README.md │ │ ├── config.py │ │ ├── deprecated │ │ ├── linear_policy.py │ │ └── parameter_reload.py │ │ ├── gpg_runner.py │ │ ├── main.py │ │ ├── make_g.py │ │ ├── modules │ │ ├── act.py │ │ ├── distributions.py │ │ └── policy.py │ │ ├── test.py │ │ └── util.py ├── mpnn │ ├── mpe │ │ ├── LICENSE │ │ ├── README.md │ │ ├── arguments.py │ │ ├── automate.py │ │ ├── eval.py │ │ ├── learner.py │ │ ├── main.py │ │ ├── mape │ │ │ ├── LICENSE.txt │ │ │ ├── README.md │ │ │ ├── bin │ │ │ │ ├── __init__.py │ │ │ │ └── interactive.py │ │ │ ├── make_env.py │ │ │ ├── multiagent │ │ │ │ ├── __init__.py │ │ │ │ ├── core.py │ │ │ │ ├── environment.py │ │ │ │ ├── multi_discrete.py │ │ │ │ ├── policy.py │ │ │ │ ├── rendering.py │ │ │ │ ├── scenario.py │ │ │ │ └── scenarios │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── simple_formation.py │ │ │ │ │ ├── simple_line.py │ │ │ │ │ └── simple_spread.py │ │ │ └── setup.py │ │ ├── mpnn.py │ │ ├── multi_discrete.py │ │ ├── multiagentEnv.py │ │ ├── requirements.txt │ │ ├── rlagent.py │ │ ├── rlcore │ │ │ ├── LICENSE │ │ │ ├── algo │ │ │ │ ├── __init__.py │ │ │ │ └── ppo.py │ │ │ ├── distributions.py │ │ │ └── storage.py │ │ └── utils.py │ └── nav │ │ ├── LICENSE │ │ ├── README.md │ │ ├── arguments.py │ │ ├── env_utils │ │ ├── env_wrappers.py │ │ ├── running_mean_std.py │ │ ├── vec_env.py │ │ └── vec_normalize.py │ │ ├── eval.py │ │ ├── learner.py │ │ ├── main.py │ │ ├── mpnn.py │ │ ├── mpnn_runner.py │ │ ├── requirements.txt │ │ ├── rlagent.py │ │ ├── rlcore │ │ ├── LICENSE │ │ ├── algo │ │ │ ├── __init__.py │ │ │ └── ppo.py │ │ ├── distributions.py │ │ └── storage.py │ │ └── util.py └── offpolicy │ ├── __init__.py │ ├── algorithms │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── graph_mlp_policy.py │ │ ├── mlp_policy.py │ │ ├── recurrent_policy.py │ │ └── trainer.py │ ├── maddpg │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── GMADDPGPolicy.py │ │ │ ├── MADDPGPolicy.py │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ └── graph_actor_critic.py │ │ ├── gmaddpg.py │ │ └── maddpg.py │ ├── matd3 │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── GMATD3Policy.py │ │ │ ├── MATD3Policy.py │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ └── graph_actor_critic.py │ │ └── matd3.py │ ├── mqmix │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── agent_q_function.py │ │ │ ├── mQMixPolicy.py │ │ │ └── mq_mixer.py │ │ └── mqmix.py │ ├── mvdn │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── mVDNPolicy.py │ │ │ └── mvdn_mixer.py │ │ └── mvdn.py │ ├── qmix │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── QMixPolicy.py │ │ │ ├── __init__.py │ │ │ ├── agent_q_function.py │ │ │ └── q_mixer.py │ │ └── qmix.py │ ├── r_maddpg │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── rMADDPGPolicy.py │ │ │ └── r_actor_critic.py │ │ └── r_maddpg.py │ ├── r_matd3 │ │ ├── __init__.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── rMATD3Policy.py │ │ │ └── r_actor_critic.py │ │ └── r_matd3.py │ ├── utils │ │ ├── act.py │ │ ├── gnn.py │ │ ├── mlp.py │ │ ├── rnn.py │ │ └── util.py │ └── vdn │ │ ├── __init__.py │ │ ├── algorithm │ │ ├── VDNPolicy.py │ │ ├── __init__.py │ │ └── vdn_mixer.py │ │ └── vdn.py │ ├── config.py │ ├── envs │ ├── __init__.py │ ├── env_wrappers.py │ ├── mpe │ │ ├── MPE_Env.py │ │ ├── __init__.py │ │ ├── core.py │ │ ├── environment.py │ │ ├── multi_discrete.py │ │ ├── rendering.py │ │ ├── scenario.py │ │ └── scenarios │ │ │ ├── __init__.py │ │ │ ├── simple_adversary.py │ │ │ ├── simple_crypto.py │ │ │ ├── simple_crypto_display.py │ │ │ ├── simple_push.py │ │ │ ├── simple_reference.py │ │ │ ├── simple_speaker_listener.py │ │ │ ├── simple_spread.py │ │ │ ├── simple_tag.py │ │ │ └── simple_world_comm.py │ └── starcraft2 │ │ ├── StarCraft2_Env.py │ │ ├── __init__.py │ │ ├── multiagentenv.py │ │ └── smac_maps.py │ ├── runner │ ├── mlp │ │ ├── base_runner.py │ │ ├── graph_mpe_runner.py │ │ ├── mpe_runner.py │ │ └── smac_runner.py │ └── rnn │ │ ├── base_runner.py │ │ ├── mpe_runner.py │ │ └── smac_runner.py │ ├── scripts │ ├── __init__.py │ ├── clean_gpu.sh │ ├── clean_smac.sh │ ├── clean_zombie.sh │ ├── sweep_config │ │ ├── mpe_sweep.yaml │ │ └── smac_sweep.yaml │ ├── sync_wandb.sh │ ├── train │ │ ├── train_mpe.py │ │ └── train_smac.py │ ├── train_mpe_maddpg.sh │ ├── train_mpe_matd3.sh │ ├── train_mpe_mqmix.sh │ ├── train_mpe_qmix.sh │ ├── train_mpe_rmaddpg.sh │ ├── train_mpe_rmatd3.sh │ ├── train_mpe_vdn.sh │ ├── train_smac_qmix.sh │ ├── train_smac_rmaddpg.sh │ ├── train_smac_rmatd3.sh │ └── train_smac_vdn.sh │ └── utils │ ├── __init__.py │ ├── mlp_buffer.py │ ├── mlp_nstep_buffer.py │ ├── popart.py │ ├── rec_buffer.py │ ├── segment_tree.py │ └── util.py ├── multiagent ├── LICENSE.txt ├── MPE_env.py ├── __init__.py ├── core.py ├── custom_scenarios │ ├── __init__.py │ ├── navigation.py │ ├── navigation_attention.py │ ├── navigation_cadrl.py │ ├── navigation_cadrl_old │ ├── navigation_dgn.py │ ├── navigation_gpg.py │ ├── navigation_graph.py │ ├── simple.py │ ├── simple_adversary.py │ ├── simple_attack.py │ ├── simple_crypto.py │ ├── simple_crypto_display.py │ ├── simple_push.py │ ├── simple_reference.py │ ├── simple_speaker_listener.py │ ├── simple_spread.py │ ├── simple_tag.py │ ├── simple_world_comm.py │ └── spread.sh ├── env_wrappers.py ├── environment.py ├── environment_deprecated.py ├── multi_discrete.py ├── policy.py ├── rendering.py ├── rvo.py └── scenario.py ├── onpolicy ├── algorithms │ ├── MAPPOPolicy.py │ ├── actor_critic.py │ ├── graph_MAPPOPolicy.py │ ├── graph_actor_critic.py │ ├── graph_mappo.py │ ├── mappo.py │ └── utils │ │ ├── act.py │ │ ├── cnn.py │ │ ├── distributions.py │ │ ├── gnn.py │ │ ├── mlp.py │ │ ├── popart.py │ │ ├── rnn.py │ │ ├── test_gnn_batching.py │ │ └── util.py ├── config.py ├── envs │ ├── __init__.py │ ├── env_wrappers.py │ └── mpe │ │ ├── MPE_env.py │ │ ├── core.py │ │ ├── environment.py │ │ ├── multi_discrete.py │ │ ├── rendering.py │ │ ├── scenario.py │ │ └── scenarios │ │ ├── __init__.py │ │ ├── simple_adversary.py │ │ ├── simple_attack.py │ │ ├── simple_crypto.py │ │ ├── simple_crypto_display.py │ │ ├── simple_push.py │ │ ├── simple_reference.py │ │ ├── simple_speaker_listener.py │ │ ├── simple_spread.py │ │ ├── simple_tag.py │ │ └── simple_world_comm.py ├── runner │ ├── separated │ │ ├── base_runner.py │ │ └── mpe_runner.py │ └── shared │ │ ├── base_runner.py │ │ ├── graph_mpe_runner.py │ │ └── mpe_runner.py ├── scripts │ ├── eval_mpe.py │ ├── train_mpe.py │ └── train_mpe.sh └── utils │ ├── __init__.py │ ├── graph_buffer.py │ ├── multi_discrete.py │ ├── separated_buffer.py │ ├── shared_buffer.py │ ├── util.py │ └── valuenorm.py ├── papers.md ├── requirement.txt ├── scripts ├── baselines.sh ├── baselines_n.sh ├── cent_obs.sh ├── compare.sh ├── compare10.sh ├── compare3.sh ├── compare7.sh ├── compare_time.sh ├── dgn_baseline.sh ├── gpg_baseline.sh ├── graph_feat.sh ├── informarl.sh ├── 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