Chen, Sirui, Zhaowei Zhang, Yaodong Yang, and Yali Du. “STAS: Spatial-Temporal Return Decomposition for Solving Sparse Rewards Problems in Multi-Agent Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 16 (March 24, 2024): 17337–17345. Accessed May 9, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/29681.