Safe Multi-Agent#
Furthermore, velocity constraints are extended to multi-agent scenarios while preserving the interface of MaMuJoCo, including the following agents:
Note
In MaMuJoCo, the same agent can be partitioned in various ways into multiple agents. We retained this feature, but established threshold values through experiments for only eight typical combinations.
Note
FreightFranka presents a unique heterogeneous multi-agent scenario, drawing from instances in automated warehouses.
The joint constraint limitations in ShadowHands strongly correlate with the challenges encountered in real-world settings. This is attributed to the fact that, although policies that perform well in simulation environments appear transferable to real-world scenarios, excessive control in practice can often result in significant damage.
Safe Multi-Agent tasks extend certain original environments and agents to a multi-agent setting, enhancing the complexity of tasks and the interaction degrees of freedom among agents. The primary objective is to advance research on the safety aspects in multi-agent robotic scenarios.