FireCommander: An Interactive, Probabilistic Multi-agent Environment for Joint Perception-Action Tasks Esmaeil Seraj †,∗ , Xiyang Wu † and Matthew C. Gombolay † Georgia Institute of Technology, Atlanta (GA), United States Institute for Robotics & Intelligent Machines CORE Robotics Lab * Corresponding author: Correspondences shall be forwarded to: electronic mail: eseraj3@gatech.edu † E. Seraj and M. Gombolay are with the Institute for Robotics & Intelligent Machines (IRIM). X. Wu is with the School of Electrical and Computer Engineering. All authors are affiliates of the Georgia Institute of Technology, Atlanta (GA), United States. 1 Version: User Guide Version 1.1 November 3, 2020 arXiv:2011.00165v1 [cs.RO] 31 Oct 2020