diff --git a/examples/MADDPG/simple_agent.py b/examples/MADDPG/simple_agent.py
index fe0e47dd5b085643a3c9ae250b6826a783c71771..f5a5bf9dbd3c3d98a11658bfc5fd2edbefad92da 100644
--- a/examples/MADDPG/simple_agent.py
+++ b/examples/MADDPG/simple_agent.py
@@ -17,6 +17,7 @@ import parl
 from parl import layers
 from paddle import fluid
 from parl.utils import ReplayMemory
+from parl.utils import machine_info, get_gpu_count
 
 
 class MAAgent(parl.Agent):
@@ -47,6 +48,10 @@ class MAAgent(parl.Agent):
             act_dim=self.act_dim_n[agent_index])
         self.global_train_step = 0
 
+        if machine_info.is_gpu_available():
+            assert get_gpu_count() == 1, 'Only support training in single GPU,\
+                    Please set environment variable: `export CUDA_VISIBLE_DEVICES=[GPU_ID_TO_USE]` .'
+
         super(MAAgent, self).__init__(algorithm)
 
         # Attention: In the beginning, sync target model totally.
diff --git a/examples/MADDPG/train.py b/examples/MADDPG/train.py
index 8454a73ee209707c65340897ce9b090d482c6751..95e476020b3a4b24a00a4d27308bebf6b0cb4481 100644
--- a/examples/MADDPG/train.py
+++ b/examples/MADDPG/train.py
@@ -101,7 +101,8 @@ def train_agent():
             act_space=env.action_space,
             gamma=args.gamma,
             tau=args.tau,
-            lr=args.lr)
+            critic_lr=args.critic_lr,
+            actor_lr=args.actor_lr)
         agent = MAAgent(
             algorithm,
             agent_index=i,
@@ -195,10 +196,15 @@ if __name__ == '__main__':
         help='statistical interval of save model or count reward')
     # Core training parameters
     parser.add_argument(
-        '--lr',
+        '--critic_lr',
         type=float,
         default=1e-3,
-        help='learning rate for Adam optimizer')
+        help='learning rate for the critic model')
+    parser.add_argument(
+        '--actor_lr',
+        type=float,
+        default=1e-3,
+        help='learning rate of the actor model')
     parser.add_argument(
         '--gamma', type=float, default=0.95, help='discount factor')
     parser.add_argument(
diff --git a/parl/algorithms/fluid/maddpg.py b/parl/algorithms/fluid/maddpg.py
index 36b14709aaf5e5e0a2cacc97bd94b1097caf2404..dec121268c986313a7eb83efe406482788b0e934 100644
--- a/parl/algorithms/fluid/maddpg.py
+++ b/parl/algorithms/fluid/maddpg.py
@@ -53,7 +53,9 @@ class MADDPG(Algorithm):
                  act_space=None,
                  gamma=None,
                  tau=None,
-                 lr=None):
+                 lr=None,
+                 actor_lr=None,
+                 critic_lr=None):
         """  MADDPG algorithm
         
         Args:
@@ -63,19 +65,38 @@ class MADDPG(Algorithm):
             act_space: action_space, gym space
             gamma (float): discounted factor for reward computation.
             tau (float): decay coefficient when updating the weights of self.target_model with self.model
-            lr (float): learning rate 
+            lr (float): learning rate, lr will be assigned to both critic_lr and actor_lr
+            critic_lr (float): learning rate of the critic model
+            actor_lr (float): learning rate of the actor model
         """
 
         assert isinstance(agent_index, int)
         assert isinstance(act_space, list)
         assert isinstance(gamma, float)
         assert isinstance(tau, float)
-        assert isinstance(lr, float)
+        # compatible upgrade of lr
+        if lr is None:
+            assert isinstance(actor_lr, float)
+            assert isinstance(critic_lr, float)
+        else:
+            assert isinstance(lr, float)
+            assert actor_lr is None, 'no need to set `actor_lr` if `lr` is not None'
+            assert critic_lr is None, 'no need to set `critic_lr` if `lr` is not None'
+            critic_lr = lr
+            actor_lr = lr
+            warnings.warn(
+                "the `lr` argument of `__init__` function in `parl.Algorithms.MADDPG` is deprecated \
+                    since version 1.4 and will be removed in version 2.0. \
+                    Recommend to use `actor_lr` and `critic_lr`. ",
+                DeprecationWarning,
+                stacklevel=2)
         self.agent_index = agent_index
         self.act_space = act_space
         self.gamma = gamma
         self.tau = tau
         self.lr = lr
+        self.actor_lr = actor_lr
+        self.critic_lr = critic_lr
 
         self.model = model
         self.target_model = deepcopy(model)
@@ -145,7 +166,7 @@ class MADDPG(Algorithm):
             clip=fluid.clip.GradientClipByNorm(clip_norm=0.5),
             param_list=self.model.get_actor_params())
 
-        optimizer = fluid.optimizer.AdamOptimizer(self.lr)
+        optimizer = fluid.optimizer.AdamOptimizer(self.actor_lr)
         optimizer.minimize(cost, parameter_list=self.model.get_actor_params())
         return cost
 
@@ -157,7 +178,7 @@ class MADDPG(Algorithm):
             clip=fluid.clip.GradientClipByNorm(clip_norm=0.5),
             param_list=self.model.get_critic_params())
 
-        optimizer = fluid.optimizer.AdamOptimizer(self.lr)
+        optimizer = fluid.optimizer.AdamOptimizer(self.critic_lr)
         optimizer.minimize(cost, parameter_list=self.model.get_critic_params())
         return cost