# Initial Task Allocation in Multi-Human Multi-Robot Teams: An Attention-Enhanced Hierarchical Reinforcement Learning Approach

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 19× · AI/ML

**Wikidata**: [openalex:W4391855070](https://www.wikidata.org/wiki/openalex:W4391855070)  
**Source**: https://4ort.xyz/entity/initial-task-allocation-in-multi-human-multi-robot-teams-an-attention-enhanced-hierarchical-reinforcement-learning-appro