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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Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.
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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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PREVENT-JACK: Context Steering for Swarms of Long Heavy Articulated Vehicles
Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.