这篇论文提出了MAGR-BB，用强化学习和分支定界让多智能体目标识别又快又准，Blocksworld上效果拔群。
多智能体目标识别要求观测者联合推断哪些智能体组成团队及其目标，假设空间随团队划分和目标数量组合增长。MAGR-BB采用共享的团队与目标条件策略作为评分模型，在因子化分支定界搜索中评估假设。在受控的多智能体Blocksworld基准测试中，MAGR-BB在整个轨迹中与穷举搜索返回相同的最高排名假设，同时将假设实例化数量减少几个数量级，累计识别运行时间大幅降低。
Multi-Agent Goal Recognition with Team- and Goal-Conditioned Reinforcement Learning and Factorized Branch-and-Bound
Multi-agent goal recognition asks an observer to jointly infer which agents act together and what each team is trying to achieve, so the hypothesis space grows combinatorially with the number of team partitions and goals per team. Real applications such as drone surveillance and collaborative robotics expose only the agents' trajectory, which forces the observer to rank team-goal hypotheses from behavior alone. Multi-Agent Goal Recognition with Branch-and-Bound (MAGR-BB) addresses this setting with a shared team- and goal-conditioned policy used as the scoring model inside a factorized branch-and-bound search. On a controlled multi-agent Blocksworld benchmark, MAGR-BB returns the same top-ranked hypothesis as exhaustive search throughout the trajectory while cutting hypothesis materialization by orders of magnitude and reducing cumulative recognition runtime substantially.