提出联合扰动状态与动作的攻击框架，提升对多智能体强化学习模型的攻破效果。

Multi-Agent Deep Reinforcement Learning (MADRL) has shown potential for cooperative and competitive tasks such as autonomous driving and strategic gaming. However, models trained by MADRL are vulnerable to adversarial perturbations on states and actions. Therefore, it is essential to investigate the robustness of MADRL models from an attack perspective. Existing studies focus on either state-only attacks or action-only attacks, but do not consider how to effectively joint them. Simply combining state and action perturbations such as randomly perturbing states and actions does not exploit their potential synergistic effects. In this paper, we propose the State-Action Joint Attack (SAJA) framework that has a good synergistic effects. SAJA consists of two important phases: (1) In the state attack phase, a multi-step gradient ascent method utilizes both the actor network and the critic network to compute an adversarial state, and (2) in the action attack phase, based on the perturbed state, a second gradient ascent uses the critic network to craft the final adversarial action. Additionally, a heuristic regularizer measuring the distance between the perturbed actions and the original clean ones is added into the loss function to enhance the effectiveness of the critic's guidance. We evaluate SAJA in the Multi-Agent Particle Environment (MPE), demonstrating that (1) it outperforms and is more stealthy than state-only or action-only attacks, and (2) existing state or action defense methods cannot defend its attacks.