Like imagine 20 robots all trying to do some task, each one learning information as it goes. How much time should they spend doing the task vs how much time should they spend communicating with the other robots? (Assuming they are restricted to one or the other)
It's not really a solvable question. It's possible some other robot has a piece of information that would make you much more efficient, however you can't know if they have that information without asking them.
It's possible that taking the piece of information you just learned and gathering all the robots and sharing it with them will help many of them become more efficient, however you don't know if that's true unless you try it.
How can one of the robots work out the value of a piece of information to another robot? Surely all you can do is estimate?
Clearly 0% communication and 100% communication are terrible ideas. However working out which pieces of information to communicate and when is not particularly optimisable, you just have to muddle through as best you can.