CHORUS adapts a single VLA backbone for decentralized control of diverse robot teams, achieving 64-point gains over from-scratch decentralized baselines and outperforming centralized methods in real-world tasks using only local observations.
Latent theory of mind: A decentralized diffusion architecture for cooperative manipulation
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CoDi decomposes the multi-agent diffusion score into pre-trained single-agent policies plus a gradient-free cost guidance term to generate coordinated behavior from single-agent data alone.
MIMIC-D enables multi-modal multi-agent coordination via joint training of decentralized diffusion policies using only local information.
citing papers explorer
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CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
CHORUS adapts a single VLA backbone for decentralized control of diverse robot teams, achieving 64-point gains over from-scratch decentralized baselines and outperforming centralized methods in real-world tasks using only local observations.
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Coordinated Diffusion: Generating Multi-Agent Behavior Without Multi-Agent Demonstrations
CoDi decomposes the multi-agent diffusion score into pre-trained single-agent policies plus a gradient-free cost guidance term to generate coordinated behavior from single-agent data alone.
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MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
MIMIC-D enables multi-modal multi-agent coordination via joint training of decentralized diffusion policies using only local information.