human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent groups of papers sharing a common citing paper.

Details of the hypergraph:
Center node: "Learning Roles: Behavioral Diversity in Robot Teams"
  Abstract: This paper describes research investigating behavioral specialization in learning robot teams. Each agent is provided a common set of skills (motor schema-based behavioral assemblages) from which it builds a task-achieving strategy using reinforcement learning. The agents learn individually to activate particular behavioral assemblages given their current situation and a reward signal. The experiments, conducted in robot soccer simulations, evaluate the agents in terms of performance, policy convergence, and behavioral diversity. The results show that in many cases, robots will automatically diversify by choosing heterogeneous behaviors. The degree of diversification and the performance of the team depend on the reward structure. When the entire team is jointly rewarded or penalized (global reinforcement), teams tend towards heterogeneous behavior. When agents are provided feedback individually (local reinforcement), they converge to identical policies.

Connected through hyperedge HE-1 (induced by source paper "Clay: Integrating Motor Schemas and Reinforcement Learning"):
  with members:
    - "MULTISTRATEGY LEARNING IN REACTIVE CONTROL SYSTEMS FOR AUTONOMOUS ROBOTIC NAVIGATION"

Connected through hyperedge HE-2 (induced by source paper "Multiagent Reinforcement Learning: Theoretical Framework and an Algorithm"):
  with members:
    - "Markov games as a framework for multi-agent reinforcement learning"
    - "A Unified Analysis of Value-Function-Based Reinforcement-Learning Algorithms"
    - "Multi-Agent Reinforcement Learning: Independent vs. Cooperative Agents"
    - "Reinforcement Learning: A Survey"

Question: Please tell me which class the center node belongs to. The 7 classes are: Neural_Networks, Reinforcement_Learning, Probabilistic_Methods, Theory, Genetic_Algorithms, Case_Based, Rule_Learning. Directly output the class name.

gpt: Reinforcement_Learning