We deployed decentralized multi-agent RL on two physical robots for joint task assignment and navigation

[u/Abdalwhab9]

MARL has been shown a lot in video games and simplified simulation environments, but can it be deployed on actual robots for complex real-world industrial applications?

In this work, we trained decentralized MARL in high-fidelity simulation using Isaac Lab/ Isaac Sim to handle joint task assignment and navigation for multiple robots tending to multiple production machines.

We built a full ROS2 deployment pipeline and transferred the policies zero-shot to the real robots.

Paper: https://arxiv.org/abs/2609.14567

Videos of the real deployment are here.

If you are working on something similar, please let me know; I would love to discuss.