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This multi-goal multi-agent setting poses difficulties for recent algorithms, which primarily target settings with a single global reward, due to two new challenges: efficient exploration for learning both individual goal attainment and cooperation for others' success, and credit-assignment for interactions between actions and goals of different agents. To address both challenges, we restructure the problem into a novel two-stage curriculum, in which single-agent goal attainment is learned prior to learning multi-agent cooperation, and we derive a new multi-goal multi-agent policy gradient with a credit function for localized credit assignment. We use a function augmentation scheme to bridge value and policy functions across the curriculum. The complete architecture, called CM3, learns significantly faster than direct adaptations of existing algorithms on three challenging multi-goal multi-agent problems: cooperative navigation in difficult formations, negotiating multi-vehicle lane changes in the SUMO traffic simulator, and strategic cooperation in a Checkers environment.","url_abs":"https://arxiv.org/abs/1809.05188v3","url_pdf":"https://arxiv.org/pdf/1809.05188v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"cm3-cooperative-multi-goal-multi-stage-multi","repo_url":"https://github.com/011235813/cm3","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"efficient-exploration","task_name":"Efficient Exploration"},{"task_slug":"multi-agent-reinforcement-learning","task_name":"Multi-agent Reinforcement Learning"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1809.05188","atlas_url":"https://app.syntology.ai/?focus=1809.05188","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1809.05188"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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