ResearchBenchmarksCooperative Multi-Agent Task on MOMAwalkerFollow93.64Forward DistancePCMA3.21226.688550.16573.6415Jun 12, 2026Evaluation ResultsMethodMethodLinksForward DistanceAverage RewardPCMA2026.0693.6421.62MADDPG2026.0675.0418.28MAPPO2026.0670.5210.11IPPO2026.066.690.8