Abstract: A system and method for utilizing a recursive reasoning graph in multi-agent reinforcement learning that includes receiving data associated with an ego agent and a target agent that are traveling within a multi-agent environment and utilizing a multi-agent central actor-critic framework to analyze the data associated with the ego agent and the target agent. The system and method also include performing level-k recursive reasoning based on the multi-agent actor-critic framework to calculate higher level recursion actions of the ego agent and the target agent. The system and method further include controlling at least one of: the ego agent and the target agent to operate within the multi-agent environment based on at least one of: an agent action policy that is associated with the ego agent and an agent action policy that is associated with the target agent.