Sampling-Based Coordination-Informed Multi-Objective Multi-Robot Reinforcement Learning

• URL: http://arxiv.org/abs/2606.30893v1
• Date: Mon, 29 Jun 2026 20:31:03 GMT
• Title: Sampling-Based Coordination-Informed Multi-Objective Multi-Robot Reinforcement Learning
• Abstract summary: Multi-robot systems must simultaneously optimize competing objectives while maintaining coordinated behavior.<n>This work introduces the Coordination-Informed Multi-Objective Reinforcement Learning (CIMORL) framework.<n>We present the base CIMORL method alongside two sampling-based variants, CIMORL-TS (Tree Search) and CIMORL-MPPI (MPPI)
• Score: 16.418881902763502
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Multi-robot systems must simultaneously optimize competing objectives while maintaining coordinated behavior. Existing multi-agent reinforcement learning approaches often rely on fixed or centralized coordination, which limits adaptability and violates distributed constraints. This work introduces the Coordination-Informed Multi-Objective Reinforcement Learning (CIMORL) framework, integrating a distributed weight prediction mechanism, a privileged expert training strategy, and theoretical guarantees for Pareto-optimal solutions. We present the base CIMORL method alongside two sampling-based variants, CIMORL-TS (Tree Search) and CIMORL-MPPI (MPPI), which leverage privileged global information during training to enable fully decentralized deployment. Experimental validation in cooperative and adversarial scenarios demonstrates a $21.2\%$ hypervolume improvement and superior policy stability compared to state-of-the-art baselines. Real-world experiments with Crazyflie drones further validate the framework's robustness in resource allocation and multi-attacker multi-defend scenarios under partial observability.

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