Communication-Aware Heterogeneous Graph Learning for Decentralized Multi-Human Multi-Robot Task Allocation

arXiv:2609.32935 · cs.RO · Submitted 2026-09-26 · Read on arXiv

cs.RO

Submitted: 2026-09-26

Updated: 2026-09-26

Project page: https://sites.google.com/view/commhg/home

Terminology

• Actor — 15× in this paper · explained in 3 episodes
• Benchmark — 12× in this paper · explained in 2 episodes
• Aggregation — 11× in this paper · explained in 1 episode
• Heterogeneous Graph — 9× in this paper · explained in 2 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Reinforcement Learning — 7× in this paper · explained in 4 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 4× in this paper
• International Conference on Robotics and Automation — 3× in this paper
• Ablation study — 1× in this paper · explained in 1 episode
• Allocator — 1× in this paper · explained in 1 episode
• Cooperation — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Intelligent Vehicles Symposium — 1× in this paper
• International Conference on Machine Learning — 1× in this paper
• Representation Learning — 1× in this paper · explained in 2 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes

Sources

• FireCommander: An Interactive, Probabilistic Multi-agent Environment for Heterogeneous Robot Teams
• Proximal Policy Optimization Algorithms

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