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Consider a problem where the agent must learn to control a hierarchy of agents acting against another such agent in a competitive environment. The agents on each team need to learn cooperate in order to compete with the other agents.

A hierarchical RL algorithm would seem to be ideal for such a problem, learning a policy that includes sub-policies for sub-agents. But are there are other types of algorithms that could be used for this kind of task, perhaps ones that are involved centralized cooperation but aren't considered hierarchical RL?

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