Training multiple brains in parallel

Unity Engine
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Hi,
I have a hierarchical multi-agent multi-brain model,
It is a hovercraft that can jump and fly around.
The whole model is made of 2 agents each with its own brain, both are on the same aircraft.
The “Driver” brain is responsible for moment-to-moment collision avoidance, movement & orientation.
The “Navigator” brain is creating the “target direction vector” & “aim look-at vector” and feeds them to the Driver.

I have trained the Driver using curriculum learning and it is working great.
Now I want to continue and train both brains together in a self-play mode, and I want both of the brains to train simultaneously.
I have read that this is not possible at the moment and curios if this would be possible in the future?

2

either you use POCA or you just fix one brain.
but as far asI know you can have mutiple behavoiurs training

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POCA works when all agents have the same brain,
so I’m trying with a single brain that has 2 tasks, then have 2 agents each with a different task, it set with a different goal observation,
when one task is selected I also pad the other task input observations.
maybe it will work.

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