arXiv2026
We investigate homogeneous populations of smart active agents that exchange information with their neighbors to perform a decentralized learning process aimed at achieving a prescribed macroscopic state. Such agents may, for example, represent simple microrobots. The exchanged information comprises tunable parameters governing the agent dynamics, referred to as the individual policy, together with an internal memory encoding previously visited states. This memory is used to evaluate a reward that quantifies the success of a policy to achieve the prescribed state. We extend the kinetic-theory description of collective learning in spatially homogeneous systems [Phys. Rev. Lett. 134, 248302 (2025)] and derive formal evolution equations for the distribution of policies across the population. A central outcome of our theory is the emergence of an effective reward function that fully determines the evolution of the policy distribution and encapsulates the microscopic details of the agents physical and memory dynamics. We obtain closed equations for the policy mean and variance which admit explicit time-dependent solutions under the assumption of Gaussian-distributed memories and polices. To illustrate the framework, we present a series of minimal microscopic models, considering both perfect and partial separation of physical, memory and policy exchange time scales, as well as models with one- and two-dimensional policies. The obtained theoretical results compare well with agent-based numerical simulations. The theory captures key aspects of collective learning, including the influence of population diversity and reward fluctuations on learning performance. Finally, we discuss potential applications to swarm robotics and machine learning, and highlight connections with classical models of biological evolution, including the Replicator equation and the Moran model.