ResearchBenchmarksCooperative Multi-Agent Task on EscortFollow17.29Average RewardPCMA14.27415.05715.8416.623Jun 12, 2026Evaluation ResultsMethodMethodLinksAverage RewardPCMA2026.0617.29MADDPG2026.0616.38MAPPO2026.0614.48IPPO2026.0614.39