Abstract: Embodiments disclosing a controller for controlling a collaboration of a set of agents jointly performing a task are provided. The set of agents includes different combinations of active agents and inactive agents defined by a collaboration variable. The controller is configured to accept a feedback signal including observations of a state of execution of the task performed by active agents, as specified in the collaboration variable. The observations are processed with a neural network trained with machine learning to determine actions for the active agents. The actions include one or more activation actions that cause activation or deactivation of a specific agent from the set of agents. The collaboration variable is updated when the neural network outputs at least one activation action to update a combination of active and inactive agents and cause the active agents to execute the determined actions.