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原文摘要

A major bottleneck in the training process for Zero-Shot Coordination (ZSC) agents is the generation of diverse partner agents via Population-based Training (PBT). Prominent PBT methods, such as Cross-play Minimization (XPM), can be very computationally expensive and sample inefficient, as the training objective requires sampling multiple types of trajectories, in particular the need of Mixed-Play (MP) trajectories to mitigate self-sabotage in cross-play. Each partner agent in the population is also trained from scratch, despite all of the partners in the population learning policies of the same coordination task. In this work, we propose that simulated trajectories from the dynamics model of an environment can drastically speed up the training process for XPM methods. We introduce XPM-WM, a framework for generating simulated trajectories for XPM via a learned World Model (WM). We show XPM with simulated trajectories removes the need to sample Mixed-Play trajectories while still mitigating any self-sabotage. The learned WM also bootstraps the training of subsequent agents in the population. We show that these two factors combined gives XPM-WM significantly better sample efficiency as compared to other XPM methods and scales linearly to the size of the population. We show our proposed method can effectively generate partners with diverse conventions that match the performance of previous methods. Finally, we show that our proposed training paradigm of using learned world models to generate diverse population can be extended to other PBT methods beyond XPM.