# Multiagent Hierarchical Cognition Difference Policy for Multiagent Cooperation
## 5 Simulation Results and Analysis
### Group Containment
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Method**} & \multicolumn{4}{c}{**Scenario (a) with 6 Agents**} & \multicolumn{4}{c}{**Scenario (b) with 15 Agents**} \\ \cline{3-8}  & & **Success Rate** & **Steps** & **Rewards** & **Success Rate** & **Steps** & **Rewards** \\ \hline \multirow{3}{*}{MADDPG} & mean & 0 & 50 & \(-1.34\) & 0 & 50 & \(-2.2\) \\ \cline{2-8}  & \(t\)-test & N/A(+) & \(-557.9873\)(+) & 94.2665(+) & N/A(+) & \(-522.7875\)(+) & \(181.5395\)(+) \\ \hline \multirow{3}{*}{TRANSFER} & mean & 100 & 14.2 & \(-0.52\) & 97 & 17.18 & \(-0.61\) \\ \cline{2-8}  & \(t\)-test & N/A(=) & \(-1.2035\)(=) & \(1.2131\)(=) & \(1.0801\)(=) & \(-5.7893\)(+) & \(6.3189\)(+) \\ \hline \multirow{3}{*}{MA-HCDP} & mean & **100** & **14.01** & \(-\)**0.49** & **99** & **14.82** & \(-\)**0.53** \\ \cline{2-8}  & \(t\)-test & N/A & N/A & N/A & N/A & N/A & N/A \\ \hline \multirow{3}{*}{Method} & \multicolumn{4}{c}{Scenario (c) with 20 agents} & \multicolumn{4}{c}{Scenario (d) with 29 agents} \\ \cline{3-8}  & \multicolumn{2}{c}{Success rate} & Steps & Rewards & Success rate & Steps & Rewards \\ \hline \multirow{3}{*}{MADDPG} & mean & 0 & 50 & \(-3.48\) & 0 & 50 & \(-3.91\) \\ \cline{2-8}  & \(t\)-test & N/A(+) & \(-472.6488\)(+) & \(322.5309\)(+) & N/A(+) & \(-413.4042\)(+) & \(373.1337\)(+) \\ \hline \multirow{3}{*}{TRANSFER} & mean & 98 & 20.11 & \(-0.72\) & 96 & 25.2 & \(-0.86\) \\ \cline{2-8}  & \(t\)-test & 0.9201(=) & \(-21.1968\)(+) & \(9.2276\)(+) & \(1.1241\)(=) & \(-38.0417\)(+) & \(42.0352\)(+) \\ \hline \multirow{3}{*}{MA-HCDP} & mean & **99** & **17.05** & \(-\)**0.64** & **98** & **20.06** & \(-\)**0.69** \\ \cline{2-8}  & \(t\)-test & N/A & N/A & N/A & N/A & N/A & N/A \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Evaluation results of cooperative navigation. Figure 8: Attention distribution. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Method**} & \multicolumn{4}{c}{**Scenario (a) with 6 Agents**} & \multicolumn{4}{c}{**Scenario (b) with 10 Agents**} \\ \cline{2-7}  & \multicolumn{2}{c}{**Success Rate**} & \multicolumn{2}{c}{**Steps**} & \multicolumn{2}{c}{**Rewards**} & \multicolumn{2}{c}{**Success Rate**} & \multicolumn{2}{c}{**Steps**} & \multicolumn{2}{c}{**Rewards**} \\ \hline \multirow{2}{*}{MADDPG} & mean & 0 & 80 & \(-1.68\) & 0 & 80 & \(-4.12\) \\ \cline{2-7}  & \(t\)-test & \(\mathrm{N/A}\) (\(+\)) & \(-583.7586\) (\(+\)) & \(252.3061\) (\(+\)) & \(\mathrm{N/A}\) (\(+\)) & \(-662.4380\) (\(+\)) & \(749.1802\) (\(+\)) \\ \hline \multirow{2}{*}{TRANSFER} & mean & 93 & 16.3 & \(-0.66\) & 91 & 14.28 & \(-0.82\) \\ \cline{2-7}  & \(t\)-test & 87.3064 (\(+\)) & \(-38.9224\) (\(+\)) & \(32.3495\) (\(+\)) & \(103.8512\) (\(+\)) & \(-33.4683\) (\(+\)) & \(36.2515\) (\(+\)) \\ \hline \multirow{2}{*}{MA-HCDP} & mean & **100** & **14.2** & \(-\)**0.56** & **100** & **12.9** & \(-\)**0.68** \\ \cline{2-7}  & \(t\)-test & \(\mathrm{N/A}\) & \(\mathrm{N/A}\) & \(\mathrm{N/A}\) & \(\mathrm{N/A}\) & \(\mathrm{N/A}\) & \(\mathrm{N/A}\) \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Evaluation results of group containment.