Appendix A Pseudocode of DRE-MARL

The pseudocode for DRE-MARL training is shown in Algorithm 20, which takes the following steps. The property of the received reward in this environment is set to be collaborative. It is a scenario with two agents and three landmarks. Navigation and Reference is that the target landmark of each agent is only known to its partner. We use the abbreviation REF to denote this environment.