CHORUS uses one VLA policy to coordinate a whole multi-robot team without communication
micoolcho · x · 2026-07-28
CHORUS proposes a single pretrained VLA backbone that can control a whole team of robots in a decentralized way.
- Each robot runs its own copy of the policy at inference time.
- It conditions only on local observations plus a robot-identifying prompt.
- No shared cameras, proprioception, or inter-robot communication is required at inference.
In real-world tasks such as mobile tape measurement, library book handovers, and lifting laundry baskets, CHORUS reportedly delivers:
- a 64-point improvement over decentralized from-scratch models,
- a 40-point improvement in responsiveness to teammate behavior,
- and better results than centralized baselines.
The authors argue this shows shared VLA priors can enable decentralized multi-robot collaboration without per-robot policies.
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