What about other than scrapping the idea of trying to create an AI that self-learns to complete Doom Levels, make it an actually Squadmate-esque-like Mass Effect? As in have the player command said AI Companions to follow, attack, move, etc. With the exception that they would have to at least learn to grab items once in a while that they need to continue the fight.
There have been quite a few evolution of Cooperative Bots in the ZDoom/GZDoom era while I was gone.
Brutal Friends being the common one as of right now.
Isabella Companion which is basically what Brutal Friends is.
Marine Express which were basic Monster Type emulation of bots, but utterly stupid using Friendly flag.
AutoDoom which sadly is its own self Doom Engine, so you can't just drop into ZDoom/GZDoom?
Coop Bots which was a more advanced decorate magic.
Coop Marines, another decorate magic.
Am I missing any? I think there was another mod but i can't find it.