diff --git a/doc/source/rllib-algorithms.rst b/doc/source/rllib-algorithms.rst
index 3d3a020c4..b0cbeb8e5 100644
--- a/doc/source/rllib-algorithms.rst
+++ b/doc/source/rllib-algorithms.rst
@@ -59,7 +59,7 @@ Tuned examples: `PongNoFrameskip-v4 <https://github.com/ray-project/ray/blob/mas
 .. figure:: impala.png
    :align: center
 
-   RLlib's IMPALA implementation scales from 16 to 128 workers on PongNoFrameskip-v4. With vectorization, similar learning performance to 128 workers can be achieved with only 32 workers. This about an order of magnitude faster than A3C, with similar sample efficiency.
+   RLlib's IMPALA implementation scales from 16 to 128 workers on PongNoFrameskip-v4. With vectorization, similar learning performance to 128 workers can be achieved with only 32 workers. This is about an order of magnitude faster than A3C (not shown here), with similar sample efficiency.
 
 Policy Gradients
 ----------------
@@ -78,4 +78,4 @@ Tuned examples: `Humanoid-v1 <https://github.com/ray-project/ray/blob/master/pyt
    :width: 500px
    :align: center
 
-   RLlib's multi-GPU PPO can scale to hundreds of cores and be more cost effective than MPI-based implementations by leveraging mixed GPU and high-CPU machines.
+   RLlib's multi-GPU PPO scales to multiple GPUs and hundreds of CPUs. Here we compare against a reference MPI-based implementation.
diff --git a/python/ray/rllib/agents/agent.py b/python/ray/rllib/agents/agent.py
index 0ac52cc8b..8489d71ea 100644
--- a/python/ray/rllib/agents/agent.py
+++ b/python/ray/rllib/agents/agent.py
@@ -212,16 +212,23 @@ class Agent(Trainable):
 
         raise NotImplementedError
 
-    def compute_action(self, observation, state=None):
-        """Computes an action using the current trained policy."""
+    def compute_action(self, observation, state=None, policy_id="default"):
+        """Computes an action for the specified policy.
+
+        Arguments:
+            observation (obj): observation from the environment.
+            state (list): RNN hidden state, if any.
+            policy_id (str): policy to query (only applies to multi-agent).
+        """
 
         if state is None:
             state = []
-        obs = self.local_evaluator.filters["default"](
+        filtered_obs = self.local_evaluator.filters[policy_id](
             observation, update=False)
         return self.local_evaluator.for_policy(
-            lambda p: p.compute_single_action(obs, state, is_training=False)[0]
-        )
+            lambda p: p.compute_single_action(
+                filtered_obs, state, is_training=False)[0],
+            policy_id=policy_id)
 
     def get_weights(self, policies=None):
         """Return a dictionary of policy ids to weights.
diff --git a/python/ray/rllib/test/test_multi_agent_env.py b/python/ray/rllib/test/test_multi_agent_env.py
index 3150985db..c9ddb3067 100644
--- a/python/ray/rllib/test/test_multi_agent_env.py
+++ b/python/ray/rllib/test/test_multi_agent_env.py
@@ -303,6 +303,46 @@ class TestMultiAgentEnv(unittest.TestCase):
                 return
         raise Exception("failed to improve reward")
 
+    def testTrainMultiCartpoleMultiPolicy(self):
+        n = 10
+        register_env("multi_cartpole", lambda _: MultiCartpole(n))
+        single_env = gym.make("CartPole-v0")
+
+        def gen_policy():
+            config = {
+                "gamma": random.choice([0.5, 0.8, 0.9, 0.95, 0.99]),
+                "n_step": random.choice([1, 2, 3, 4, 5]),
+            }
+            obs_space = single_env.observation_space
+            act_space = single_env.action_space
+            return (PGPolicyGraph, obs_space, act_space, config)
+
+        pg = PGAgent(
+            env="multi_cartpole",
+            config={
+                "num_workers": 0,
+                "multiagent": {
+                    "policy_graphs": {
+                        "policy_1": gen_policy(),
+                        "policy_2": gen_policy(),
+                    },
+                    "policy_mapping_fn": lambda agent_id: "policy_1",
+                },
+            })
+
+        # Just check that it runs without crashing
+        for i in range(10):
+            result = pg.train()
+            print("Iteration {}, reward {}, timesteps {}".format(
+                i, result.episode_reward_mean, result.timesteps_total))
+        self.assertTrue(
+            pg.compute_action([0, 0, 0, 0], policy_id="policy_1") in [0, 1])
+        self.assertTrue(
+            pg.compute_action([0, 0, 0, 0], policy_id="policy_2") in [0, 1])
+        self.assertRaises(
+            KeyError,
+            lambda: pg.compute_action([0, 0, 0, 0], policy_id="policy_3"))
+
     def _testWithOptimizer(self, optimizer_cls):
         n = 3
         env = gym.make("CartPole-v0")