Hi, I have a hierarchical multi-agent multi-brain model, It is a hovercraft that can jump and fly around. The whole model is made of 2 agents each with its own brain, both are on the same aircraft. The "Driver" brain is responsible for moment-to-moment collision avoidance, movement & orientation. The "Navigator" brain is creating the "target direction vector" & "aim look-at vector" and feeds them to the Driver. I have trained the Driver using curriculum learning and it is working great. Now I want to continue and train both brains together in a self-play mode, and I want both of the brains to train simultaneously. I have read that this is not possible at the moment and curios if this would be possible in the future?