Dongzi Wang 0002 Fangwei Zhong Minglong Li Muning Wen Yuanxi Peng Teng Li 0011 Adam Yang 0001 RoMAT: Role-based multi-agent transformer for generalizable heterogeneous cooperation. 106129 2024 174 Neural Networks https://doi.org/10.1016/j.neunet.2024.106129 db/journals/nn/nn174.html#WangZLWPLY24