{"id":756,"date":"2025-12-19T22:16:39","date_gmt":"2025-12-19T14:16:39","guid":{"rendered":"https:\/\/www.ndnlab.com\/?p=756"},"modified":"2025-12-27T01:33:52","modified_gmt":"2025-12-26T17:33:52","slug":"mastering-multi-drone-volleyball-throughhierarchical-co-self-play-reinforcement-learning","status":"publish","type":"post","link":"https:\/\/www.ndnlab.com\/?p=756","title":{"rendered":"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning"},"content":{"rendered":"\n<h1 class=\"wp-block-heading\">\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u6311\u6218<\/h1>\n\n\n\n<p><strong>\u4efb\u52a1\u5b9a\u4e49\uff1a3v3 \u591a\u65e0\u4eba\u673a\u6392\u7403\uff08Multi-Drone Volleyball\uff09<\/strong><br>\u8be5\u4efb\u52a1\u8981\u6c42\u4e09\u53f0\u65e0\u4eba\u673a\u7ec4\u6210\u4e00\u4e2a\u56e2\u961f\u4e0e\u53e6\u4e00\u4e2a\u4e09\u673a\u56e2\u961f\u8fdb\u884c\u6392\u7403\u6bd4\u8d5b\u3002\u5b83<strong>\u540c\u65f6\u5177\u6709\u4ee5\u4e0b\u6311\u6218\u6027<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9ad8\u5c42\u7b56\u7565\u4e0e\u4f4e\u5c42\u63a7\u5236\u8026\u5408<\/strong>\uff1a\u9700\u8981\u5728\u7269\u7406\u73af\u5883\u4e2d\u505a\u51fa\u6218\u672f\u51b3\u7b56\uff08\u5982\u56e2\u961f\u914d\u5408\u3001\u7403\u8def\u9009\u62e9\uff09\u5e76\u6267\u884c\u5177\u4f53\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li><strong>\u591a\u667a\u80fd\u4f53\u534f\u540c\u4e0e\u7ade\u4e89<\/strong>\uff1a3v3 \u5f62\u5f0f\u8981\u6c42\u56e2\u961f\u6210\u5458\u4e4b\u95f4\u7d27\u5bc6\u5408\u4f5c\uff0c\u540c\u65f6\u5728\u5bf9\u6297\u4e2d\u4e0d\u65ad\u8c03\u6574\u7b56\u7565\u3002<\/li>\n\n\n\n<li><strong>\u590d\u6742\u7269\u7406\u52a8\u529b\u5b66<\/strong>\uff1a\u65e0\u4eba\u673a\u5177\u5907\u6b20\u9a71\u52a8\u7279\u6027\uff08\u5373\u67d0\u4e9b\u8fd0\u52a8\u4e0d\u53ef\u76f4\u63a5\u63a7\u5236\uff09\uff0c\u4f7f\u5f97\u7cbe\u7ec6\u52a8\u4f5c\u5b66\u4e60\u6210\u4e3a\u72ec\u7acb\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u957f\u65f6\u5e8f\u4f9d\u8d56\u4e0e\u56de\u5408\u5236\u7ed3\u6784<\/strong>\uff1a\u6bd4\u8d5b\u8fc7\u7a0b\u8de8\u8d8a\u591a\u4e2a\u8fde\u7eed\u65f6\u523b\uff0c\u51b3\u7b56\u6548\u679c\u53ef\u80fd\u5728\u8f83\u957f\u65f6\u95f4\u8303\u56f4\u5185\u663e\u73b0\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6b64\u5916\uff0c\u8be5\u4efb\u52a1\u4e0e\u8fc7\u53bb\u7684\u5355\u4e00\u65e0\u4eba\u673a\u63a7\u5236\u4efb\u52a1\u4e0d\u540c\uff0c\u5b83\u66f4\u52a0\u7c7b\u4f3c\u5178\u578b\u7684 <strong>embodied competitive multi-agent RL<\/strong> \u73af\u5883\uff0c\u9700\u8981\u7b56\u7565\u548c\u63a7\u5236\u4e00\u4f53\u5316\u5730\u5b66\u4e60\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u4e8c\u3001\u65b9\u6cd5\uff1aHierarchical Co-Self-Play (HCSP)<\/h1>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86 <strong>Hierarchical Co-Self-Play (HCSP)<\/strong> \u2014\u2014 \u4e00\u79cd\u5206\u5c42\u7684\u5f3a\u5316\u5b66\u4e60\u6846\u67b6\uff0c\u5c06 <strong>\u9ad8\u5c42\u7b56\u7565\u51b3\u7b56<\/strong> \u4e0e <strong>\u4f4e\u5c42\u8fd0\u52a8\u63a7\u5236<\/strong> \u5206\u5f00\u5904\u7406\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4e09\u9636\u6bb5\u7684\u8bad\u7ec3\u6d41\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"871\" height=\"458\" src=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-38.png\"  class=\"wp-image-757\" srcset=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-38.png 871w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-38-300x158.png 300w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-38-768x404.png 768w\" sizes=\"auto, (max-width: 871px) 100vw, 871px\" title=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe\" alt=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">2.1 \u5206\u5c42\u7b56\u7565\u7ed3\u6784<\/h2>\n\n\n\n<p>HCSP \u5c06\u7b56\u7565\u5206\u6210\u4e24\u4e2a\u5c42\u6b21\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>\u9ad8\u5c42\u7b56\u7565 \u03c0\u207d\u1d34\u207e\uff08High-Level Strategy\uff09<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"873\" height=\"366\" src=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-39.png\"  class=\"wp-image-758\" srcset=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-39.png 873w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-39-300x126.png 300w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-39-768x322.png 768w\" sizes=\"auto, (max-width: 873px) 100vw, 873px\" title=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe1\" alt=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe1\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u8d1f\u8d23\u56e2\u961f\u6574\u4f53\u6218\u672f\u51b3\u7b56\uff0c\u5982\u4e3a\u6bcf\u4e00\u53f0\u65e0\u4eba\u673a\u9009\u62e9\u4f4e\u5c42\u6280\u80fd\u548c\u6218\u672f\u53c2\u6570\u3002<\/li>\n\n\n\n<li><strong>\u7ed3\u6784<\/strong>\uff1a\u96c6\u4e2d\u5f0f\u7f51\u7edc\uff08MLP\uff09\uff0c\u5305\u62ec\u4e09\u4e2a\u8f93\u51fa\u5934\uff0c\u6bcf\u4e2a\u8f93\u51fa\u5934\u5206\u522b\u63a7\u5236\u4e00\u4e2a\u961f\u5458\u7684\u4f4e\u5c42\u6280\u80fd\u9009\u62e9\u3002<\/li>\n\n\n\n<li><strong>\u63a7\u5236\u65f6\u673a<\/strong>\uff1a\u4ec5\u5728<strong>\u79bb\u6563\u6e38\u620f\u4e8b\u4ef6<\/strong>\uff08\u4f8b\u5982\u51fb\u7403\u6216\u7403\u8fc7\u7f51\uff09\u53d1\u751f\u65f6\u89e6\u53d1\uff0c\u53cd\u6620\u6392\u7403\u6bd4\u8d5b\u7684\u56de\u5408\u5236\u7279\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\u4f4e\u5c42\u7b56\u7565 \u03c0\u207d\u1d38\u207e\uff08Low-Level Skills\uff09<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u9762\u5411\u5177\u4f53\u7684\u65e0\u4eba\u673a\u52a8\u6001\u63a7\u5236\uff0c\u6bd4\u5982\u63a8\u529b\u8c03\u6574\u4e0e\u59ff\u6001\u63a7\u5236\u3002<\/li>\n\n\n\n<li><strong>\u7ed3\u6784<\/strong>\uff1a\u6bcf\u4e2a\u65e0\u4eba\u673a\u62e5\u6709\u72ec\u7acb\u4f4e\u5c42\u63a7\u5236\u5668\uff0c\u5728\u9ad8\u9891\u7387\uff08\u5982 50 Hz\uff09\u4e0a\u8fd0\u884c\uff0c\u63d0\u4f9b\u5bf9\u7269\u7406\u52a8\u6001\u7684\u5b9e\u65f6\u8c03\u6574\u3002<\/li>\n\n\n\n<li><strong>\u89c2\u5bdf\u7a7a\u95f4<\/strong>\uff1a\u4e3b\u8981\u5305\u62ec\u5f53\u524d\u65e0\u4eba\u673a\u72b6\u6001\u548c\u7403\u7684\u7269\u7406\u4fe1\u606f\uff0c\u4e0d\u5305\u542b\u6218\u672f\u5c42\u9762\u7684\u5168\u5c40\u4fe1\u606f\uff0c\u4ee5\u4fdd\u6301\u4e13\u6ce8\u7269\u7406\u6267\u884c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u79cd\u5206\u5c42\u8bbe\u8ba1\u4f7f\u5f97 <strong>\u9ad8\u5c42\u5173\u6ce8\u957f\u671f\u534f\u540c\u4e0e\u6218\u672f\u903b\u8f91\uff0c\u4f4e\u5c42\u5173\u6ce8\u5177\u4f53\u52a8\u4f5c\u6267\u884c<\/strong>\uff0c\u4ece\u800c\u5206\u79bb\u4efb\u52a1\u7684\u4e0d\u540c\u590d\u6742\u6027\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">2.2 \u4e09\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b<\/h2>\n\n\n\n<p>HCSP \u7684\u6838\u5fc3\u5728\u4e8e<strong>\u4e09\u9636\u6bb5\u7684\u8bad\u7ec3\u7ba1\u7ebf<\/strong>\uff0c\u65e8\u5728\u8ba9\u4f4e\u5c42\u6280\u80fd\u548c\u9ad8\u5c42\u6218\u672f\u4ece\u96f6\u5f00\u59cb\u81ea\u53d1\u5b66\u4e60\uff0c\u65e0\u9700\u4e13\u5bb6\u6f14\u793a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u2726 <strong>Stage I \u2014 \u4f4e\u5c42\u6280\u80fd\u81ea\u5b66\u4e60\uff08Low-Level Skill Acquisition\uff09<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76ee\u6807\uff1a\u8bad\u7ec3\u72ec\u7acb\u65e0\u4eba\u673a\u7684\u57fa\u7840\u52a8\u4f5c\u6280\u80fd\uff0c\u5982\u79fb\u52a8\u5230\u76ee\u6807\u4f4d\u7f6e\u3001\u5728\u7a7a\u4e2d\u8c03\u6574\u59ff\u6001\u3001\u8fce\u51fb\u7403\u7b49\u3002<\/li>\n\n\n\n<li>\u65b9\u6cd5\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5c06\u4f4e\u5c42\u7b56\u7565\u4f5c\u4e3a\u5355\u72ec RL \u4efb\u52a1\u8bad\u7ec3\uff1b<\/li>\n\n\n\n<li>\u4f7f\u7528 <strong>reward shaping<\/strong> \u6765\u52a0\u901f\u5b66\u4e60\uff08\u4f8b\u5982\u63a5\u8fd1\u7403\u6216\u4fdd\u6301\u5e73\u8861\u5e26\u6765\u5373\u65f6\u5956\u52b1\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5173\u952e\u6280\u672f\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>Policy Chaining<\/strong>\uff1a\u9010\u6b65\u8bad\u7ec3\u4f4e\u5c42\u6280\u80fd\uff0c\u4f7f\u5176\u80fd\u5728\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u5e73\u6ed1\u8fc7\u6e21\u4e0d\u540c\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li>\u9ad8\u9891\u7387\u52a8\u4f5c\u6267\u884c\uff08\u5982 50 Hz\uff09\uff0c\u4fdd\u8bc1\u7ec6\u7c92\u5ea6\u63a7\u5236\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u9636\u6bb5\u7684\u4e3b\u8981\u76ee\u6807\u662f\u8ba9\u65e0\u4eba\u673a\u5177\u5907\u57fa\u7840\u98de\u884c\u4e0e\u7403\u4ea4\u4e92\u6280\u80fd\uff0c\u4e3a\u540e\u7eed\u9ad8\u5c42\u8bad\u7ec3\u51c6\u5907\u7a33\u5b9a\u7684\u6267\u884c\u6a21\u5757\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">\u2726 <strong>Stage II \u2014 \u56fa\u5b9a\u4f4e\u5c42\u7b56\u7565\u7684\u9ad8\u5c42\u81ea\u535a\u5f08\uff08High-Level Self-Play Strategy Learning\uff09<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 Stage I \u5b8c\u6210\u540e\uff0c<strong>\u51bb\u7ed3\u4f4e\u5c42\u63a7\u5236\u5668<\/strong>\uff0c\u5c06\u5b83\u4eec\u4f5c\u4e3a\u56fa\u5b9a\u6a21\u5757\u4f9b\u9ad8\u5c42\u7b56\u7565\u8c03\u7528\u3002<\/li>\n\n\n\n<li>\u9ad8\u5c42\u7b56\u7565\u901a\u8fc7**\u81ea\u6211\u5bf9\u6297\uff08self-play\uff09**\u8bad\u7ec3\u6765\u5b66\u4e60\u56e2\u961f\u534f\u4f5c\u4e0e\u7ade\u4e89\u6218\u672f\u3002<\/li>\n\n\n\n<li>\u4e3a\u4e86\u589e\u5f3a\u7b56\u7565\u591a\u6837\u6027\u548c\u9c81\u68d2\u6027\uff0c\u8be5\u9636\u6bb5\u91c7\u7528\u4e86<strong>\u57fa\u4e8e\u79cd\u7fa4\u7684\u4eba\u53e3\u8bad\u7ec3\u673a\u5236<\/strong>\uff0c\u8ba9\u9ad8\u5c42\u7b56\u7565\u4e0e\u4e0d\u540c\u7248\u672c\u7684\u6218\u672f\u8fdb\u884c\u5bf9\u6297\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u9636\u6bb5\u7684\u6536\u76ca\u5728\u4e8e\u8ba9\u9ad8\u5c42\u4e13\u6ce8\u4e8e\u957f\u671f\u51b3\u7b56\u3001\u9635\u578b\u5b89\u6392\u3001\u7403\u8def\u9009\u62e9\u7b49\u903b\u8f91\uff0c\u800c\u4e0d\u88ab\u4f4e\u5c42\u7269\u7406\u63a7\u5236\u5e72\u6270\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">\u2726 <strong>Stage III \u2014 \u534f\u540c\u81ea\u535a\u5f08\u8054\u5408\u5fae\u8c03\uff08Co-Self-Play Fine-Tuning\uff09<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"904\" height=\"369\" src=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-40.png\"  class=\"wp-image-759\" srcset=\"https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-40.png 904w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-40-300x122.png 300w, https:\/\/www.ndnlab.com\/wp-content\/uploads\/2025\/12\/image-40-768x313.png 768w\" sizes=\"auto, (max-width: 904px) 100vw, 904px\" title=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe2\" alt=\"Mastering Multi-Drone Volleyball throughHierarchical Co-Self-Play Reinforcement Learning\u63d2\u56fe2\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6700\u540e\u4e00\u9636\u6bb5\u662f\u5c06\u9ad8\u5c42\u548c\u4f4e\u5c42\u7b56\u7565\u8054\u5408\u8bad\u7ec3\uff0c\u4f7f\u4e24\u4e2a\u5c42\u6b21\u5f7c\u6b64\u9002\u914d\u3002<\/li>\n\n\n\n<li>\u8054\u5408\u8bad\u7ec3\u7684\u5173\u952e\u6280\u672f\u5305\u62ec\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8ba9\u9ad8\u5c42\u5956\u52b1\u5f71\u54cd\u4f4e\u5c42\u5b66\u4e60\uff0c\u4ece\u800c\u4f7f\u4f4e\u5c42\u4f18\u5316\u4e0d\u4ec5\u8003\u8651\u81ea\u8eab\u5373\u65f6\u6267\u884c\u8868\u73b0\uff0c\u4e5f\u80fd\u670d\u52a1\u66f4\u9ad8\u5c42\u6b21\u7684\u6218\u672f\u76ee\u6807\u3002<\/li>\n\n\n\n<li>\u4e3a\u51cf\u5c11 reward \u7a00\u758f\u6027\uff0c\u5728\u4f4e\u5c42 reward \u4e2d\u52a0\u5165\u4e00\u9879 <strong>KL \u60e9\u7f5a<\/strong>\uff0c\u4ee5\u9650\u5236\u4f4e\u5c42\u7b56\u7565\u504f\u79bb\u5176\u53c2\u8003\u7b56\u7565\u8fc7\u8fdc\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u4e00\u9636\u6bb5\u7684\u7ed3\u679c\u901a\u5e38\u4f1a\u4f53\u73b0\u4e3a\u66f4\u534f\u8c03\u7684\u52a8\u4f5c\u5e8f\u5217\u548c\u66f4\u7a33\u5065\u7684\u56e2\u961f\u8868\u73b0\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u4e09\u3001\u7b56\u7565\u4e0e\u7f51\u7edc\u53c2\u6570\u5316<\/h1>\n\n\n\n<h3 class=\"wp-block-heading\">\u2022 <strong>\u9ad8\u5c42\u7b56\u7565\u7f51\u7edc<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\uff1a\u5f53\u524d\u6e38\u620f\u72b6\u6001\uff08\u5305\u62ec\u7403\u4f4d\u7f6e\u3001\u65e0\u4eba\u673a\u4f4d\u7f6e\u3001\u5386\u53f2\u52a8\u4f5c\u4fe1\u606f\u7b49\uff09\u3002<\/li>\n\n\n\n<li>\u8f93\u51fa\uff1a\u6bcf\u53f0\u65e0\u4eba\u673a\u7684<strong>\u4f4e\u5c42\u6280\u80fd\u9009\u62e9 + \u6218\u672f\u53c2\u6570<\/strong>\u3002<\/li>\n\n\n\n<li>\u7f51\u7edc\u7ed3\u6784\uff1a\u7edf\u4e00 MLP\uff08\u591a\u5c42\u611f\u77e5\u673a\uff09\u5171\u4eab\u5e95\u5c42\u8868\u793a\uff0c\u4e09\u4e2a\u8f93\u51fa\u5934\u5206\u522b\u8d1f\u8d23\u6bcf\u53f0\u65e0\u4eba\u673a\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u2022 <strong>\u4f4e\u5c42\u7b56\u7565\u7f51\u7edc<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\uff1a\u672c\u673a\u89c2\u6d4b\uff08\u81ea\u8eab\u72b6\u6001 + \u7403\u52a8\u6001\uff09\u3002<\/li>\n\n\n\n<li>\u8f93\u51fa\uff1a\u8fde\u7eed\u52a8\u4f5c\u5982\u63a8\u529b\u3001\u89d2\u901f\u5ea6\u7b49\u3002<\/li>\n\n\n\n<li>\u7f51\u7edc\u91c7\u7528\u72ec\u7acb\u53c2\u6570\u5316\u7b56\u7565\uff0c\u7531\u9ad8\u9891 RL \u7b97\u6cd5\uff08\u5982 PPO\/TD3 \u7c7b\u65b9\u6cd5\uff09\u8bad\u7ec3\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u79cd\u7ed3\u6784\u5141\u8bb8 <strong>\u9ad8\u5c42\u4ee5\u7a00\u758f\u4e8b\u4ef6\u4f5c\u4e3a\u51b3\u7b56\u65f6\u523b\uff0c\u4f4e\u5c42\u6267\u884c\u7ec6\u7c92\u5ea6\u63a7\u5236<\/strong>\uff0c\u6709\u6548\u51cf\u5c11\u8bad\u7ec3\u566a\u58f0\u5e76\u63d0\u5347\u5b66\u4e60\u6548\u7387\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u56db\u3001\u8bad\u7ec3\u673a\u5236\u7ec6\u8282<\/h1>\n\n\n\n<h3 class=\"wp-block-heading\">\u2022 <strong>\u4eba\u53e3\u8bad\u7ec3\u4e0e\u6837\u672c\u91cd\u5206\u914d<\/strong><\/h3>\n\n\n\n<p>\u5728 Stage II \u4e2d\u5f15\u5165\u79cd\u7fa4\u8bad\u7ec3\uff08population-based training\uff09\uff0c\u4f7f\u9ad8\u5c42\u7b56\u7565\u9762\u5bf9\u591a\u4e2a\u7248\u672c\u7684\u5bf9\u624b\uff0c\u6709\u52a9\u4e8e\u907f\u514d\u8fc7\u62df\u5408\u5355\u4e00\u5bf9\u624b\u7b56\u7565\uff0c\u63d0\u5347\u7b56\u7565\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u2022 <strong>\u5956\u52b1\u8bbe\u8ba1<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9ad8\u5c42\u4e3b\u8981\u4f9d\u636e\u6bd4\u8d5b\u80dc\u8d1f\u4e0e\u5173\u952e\u4e8b\u4ef6\u83b7\u5f97\u7a00\u758f\u5956\u52b1\uff1b<\/li>\n\n\n\n<li>\u4f4e\u5c42\u5728 Stage I \u7531<strong>densified reward shaping<\/strong> \u63d0\u4f9b\u4fe1\u53f7\uff1b<\/li>\n\n\n\n<li>\u5728 Stage III\uff0c\u4f4e\u5c42\u5956\u52b1\u6574\u5408\u6765\u81ea\u9ad8\u5c42\u7684 reward \u548c\u4e0e\u53c2\u8003\u7b56\u7565\u7684 KL \u60e9\u7f5a\uff0c\u63d0\u5347\u7a33\u5b9a\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u4e94\u3001\u5b9e\u9a8c\u7ed3\u679c<\/h1>\n\n\n\n<p>\u8be5\u8bba\u6587\u5728 <strong>VolleyBots 3v3 \u4efb\u52a1<\/strong> \u4e0a\u8fdb\u884c\u4e86\u5927\u89c4\u6a21\u6bd4\u8f83\u5b9e\u9a8c\uff0c\u5e76\u4e0e\u4e0b\u5217\u57fa\u7ebf\u8fdb\u884c\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u975e\u5206\u5c42\u81ea\u535a\u5f08\uff08flat self-play\uff09<\/strong><\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u89c4\u5219\u7684\u5206\u5c42\u7b56\u7565<\/strong><\/li>\n\n\n\n<li><strong>\u4e24\u9636\u6bb5\u8bad\u7ec3\u53d8\u4f53\uff08\u65e0\u8054\u5408\u5fae\u8c03\uff09<\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>\u5173\u952e\u6027\u80fd\u6307\u6807<\/strong>\uff08\u5e73\u5747\u80dc\u7387\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u65b9\u6cd5<\/th><th>\u80dc\u7387\uff08\u5e73\u5747 vs Baselines\uff09<\/th><\/tr><\/thead><tbody><tr><td>HCSP (\u5b8c\u6574\u4e09\u9636\u6bb5)<\/td><td>82.9%<\/td><\/tr><tr><td>Two-stage variant (Stage I + II)<\/td><td>71.5%<\/td><\/tr><tr><td>Non-hierarchical\/self-play<\/td><td>\u663e\u8457\u66f4\u4f4e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u5728 Stage III \u8054\u5408\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\uff0c<strong>\u51fa\u73b0\u4e86\u4e00\u4e9b\u56e2\u961f\u534f\u4f5c\u884c\u4e3a<\/strong>\uff0c\u4f8b\u5982\u89d2\u8272\u5207\u6362\u3001\u534f\u8c03\u9635\u578b\uff0c\u8fd9\u4e9b\u5728 Stage II \u6216 baselines \u4e2d\u672a\u660e\u663e\u51fa\u73b0\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u516d\u3001\u6838\u5fc3\u8d21\u732e\u4e0e\u521b\u65b0\u70b9<\/h1>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5f15\u5165 HCSP<\/strong>\uff1a\u9996\u4e2a\u7528\u4e8e\u9ad8\u7ef4\u7269\u7406 multi-agent \u7ade\u6280\u4efb\u52a1\u7684\u5206\u5c42\u81ea\u5bf9\u6297 RL \u6846\u67b6\u3002<\/li>\n\n\n\n<li><strong>\u4e09\u9636\u6bb5\u8bad\u7ec3<\/strong>\uff1a\u5206\u522b\u89e3\u51b3\u4f4e\u5c42\u6280\u80fd\u3001\u6218\u672f\u7b56\u7565\u548c\u8054\u5408\u4f18\u5316\uff0c\u4f7f\u5b66\u4e60\u66f4\u7a33\u5b9a\u4e14\u66f4\u5177\u903b\u8f91\u5206\u5c42\u3002<\/li>\n\n\n\n<li><strong>\u8054\u5408\u5fae\u8c03\u673a\u5236<\/strong>\uff1a\u901a\u8fc7 co-self-play \u8ba9\u4e0d\u540c\u5c42\u4e92\u76f8\u8c03\u6574\uff0c\u63d0\u9ad8\u6700\u7ec8\u534f\u4f5c\u7b56\u7565\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u8bc1\u9a8c\u8bc1<\/strong>\uff1a\u5728\u9ad8\u96be\u5ea6 3v3 \u591a\u65e0\u4eba\u673a\u7ade\u6280\u4efb\u52a1\u4e2d\u663e\u8457\u8d85\u8fc7 baselines\uff0c\u5e76\u5c55\u793a\u590d\u6742\u884c\u4e3a\u7684 emergent emergence\u3002<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u4e03\u3001\u6280\u672f\u5c40\u9650\u4e0e\u672a\u6765\u65b9\u5411<\/h1>\n\n\n\n<p>\u8bba\u6587\u4e2d\u6307\u51fa\u51e0\u70b9\u672a\u6765\u6539\u8fdb\u6216\u5f00\u653e\u95ee\u9898\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bad\u7ec3\u6210\u672c\u9ad8<\/strong>\uff1a\u4e09\u9636\u6bb5\u8bad\u7ec3\u7ba1\u7ebf\u5bf9\u7b97\u529b\u548c\u6837\u672c\u6548\u7387\u8981\u6c42\u8f83\u9ad8\u3002<\/li>\n\n\n\n<li><strong>reward \u7a00\u758f\u6027<\/strong>\uff1a\u9ad8\u5c42\u5956\u52b1\u4ecd\u7136\u7a00\u758f\uff0c\u5c3d\u7ba1 Stage III \u6709\u7f13\u89e3\u673a\u5236\u4f46\u6539\u8fdb\u7a7a\u95f4\u4ecd\u7136\u5b58\u5728\u3002<\/li>\n\n\n\n<li><strong>\u771f\u5b9e\u90e8\u7f72\u6311\u6218<\/strong>\uff1a\u5c3d\u7ba1\u5728\u6a21\u62df\u5668\u4e0a\u9a8c\u8bc1\uff0c\u8de8\u5230\u771f\u5b9e\u65e0\u4eba\u673a\u53ef\u80fd\u9762\u4e34 dynamics gap \u548c\u53ef\u9760\u6027\u95ee\u9898\uff08\u867d\u7136 VolleyBots \u63d0\u4f9b\u4e86 sim2real \u7684\u57fa\u7840\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading\">\u516b\u3001\u603b\u7ed3<\/h1>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u9762\u5411\u590d\u6742 multi-agent embodied \u5f3a\u5316\u5b66\u4e60\u4efb\u52a1\u7684 <strong>\u5206\u5c42\u81ea\u5bf9\u6297\u5b66\u4e60\u6846\u67b6 HCSP<\/strong>\uff0c\u901a\u8fc7\u5206\u89e3\u9ad8\u5c42\u6218\u672f\u4e0e\u4f4e\u5c42\u63a7\u5236\u95ee\u9898\uff0c\u5e76\u91c7\u7528\u4e09\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b\uff0c\u4f7f\u5f97 3v3 \u591a\u65e0\u4eba\u673a\u6392\u7403\u8fd9\u4e00\u590d\u6742\u7ade\u6280\u4efb\u52a1\u53ef\u4ee5\u4ece\u96f6\u5f00\u59cb\u5b66\u4e60\u51fa\u6709\u6548\u7b56\u7565\u3002\u5b9e\u9a8c\u8bc1\u660e HCSP \u80fd\u5b66\u4e60 emergent \u7684\u56e2\u961f\u534f\u4f5c\u884c\u4e3a\uff0c\u5e76\u5927\u5e45\u6027\u80fd\u4f18\u4e8e\u4f20\u7edf baselines\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u6311\u6218 \u4efb\u52a1\u5b9a\u4e49\uff1a3v3 \u591a\u65e0\u4eba\u673a\u6392\u7403\uff08Multi-Drone Volleyball\uff09\u8be5\u4efb\u52a1\u8981\u6c42\u4e09\u53f0\u65e0\u4eba\u673a\u7ec4\u6210\u4e00\u4e2a\u56e2\u961f\u4e0e\u53e6\u4e00\u4e2a\u4e09\u673a\u56e2\u961f\u8fdb\u884c\u6392\u7403\u6bd4\u8d5b\u3002\u5b83\u540c\u65f6\u5177\u6709\u4ee5\u4e0b\u6311\u6218\u6027\uff1a \u6b64\u5916\uff0c\u8be5\u4efb\u52a1\u4e0e\u8fc7\u53bb\u7684\u5355\u4e00\u65e0\u4eba\u673a\u63a7\u5236\u4efb\u52a1\u4e0d\u540c\uff0c\u5b83\u66f4\u52a0\u7c7b\u4f3c\u5178\u578b\u7684 embodied competitive multi-agent RL \u73af\u5883\uff0c\u9700\u8981\u7b56\u7565\u548c\u63a7\u5236\u4e00\u4f53\u5316\u5730\u5b66\u4e60\u3002 \u4e8c\u3001\u65b9\u6cd5\uff1aHierarchical Co-Self-Play (HCSP) \u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86 Hierarchic &hellip; <a href=\"https:\/\/www.ndnlab.com\/?p=756\">\u7ee7\u7eed\u9605\u8bfb <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":757,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-756","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/posts\/756","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=756"}],"version-history":[{"count":1,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/posts\/756\/revisions"}],"predecessor-version":[{"id":760,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/posts\/756\/revisions\/760"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=\/wp\/v2\/media\/757"}],"wp:attachment":[{"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=756"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=756"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.ndnlab.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=756"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}