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Many cooperative multiagent reinforcement learning environments provide agents with a sparse team-based reward, as well as a dense agent-specific reward that incentivizes learning basic skills.
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S. Khadka, S. Majumdar, T. Nassar, Z. Dwiel, E. Tumer, S. Miret, Y. Liu, and K. Tumer · 2019
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Google research football: A novel reinforcement learning environment
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