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: Multi-modal imitation for MultI-agent coordination with decentralized diffusion policies
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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.