Learning and Planning Multi-Agent Tasks via an MoE-based World Model

Multi-task multi-agent reinforcement learning (MT-MARL) aims to develop a single model capable of solving a diverse set of tasks. However, existing methods often fall short due to the substantial variation in optimal policies across tasks, making it challenging for a single policy model to generalize effectively. In contrast, we find that many tasks exhibit **bounded similarity** in their underlying dynamics—highly similar within certain groups (e.g., door-open/close) diverge significantly between unrelated tasks (e.g., door-open \& object-catch). To leverage this property, we reconsider the role of modularity in multi-task learning, and propose **M3W**, a novel approach that applies mixture-of-experts (MoE) to world model instead of policy, enabling both learning and planning. For learning, it uses a SoftMoE-based dynamics model alongside a SparseMoE-based predictor to facilitate knowledge reuse across similar tasks while avoiding gradient conflicts across dissimilar tasks. For planning, it evaluates and optimizes actions using the predicted rollouts from the world model, without relying directly on a explicit policy model, thereby overcoming the limitations of policy-centric methods. As the first MoE-based multi-task world model, M3W demonstrates superior performance, sample efficiency, and multi-task adaptability, as validated on Bi-DexHands with 14 tasks and MA-Mujoco with 24 tasks. The demos and anonymous code are available at \url{https://github.com/zhaozijie2022/m3w-marl}.