Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand

arXiv:2609.32129 · cs.RO · Submitted 2026-09-26 · Read on arXiv

cs.RO

Submitted: 2026-09-26

Updated: 2026-09-29

Comments: 8 pages, 4 figures, 4 tables

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 25× in this paper · explained in 1 episode
• Diffusion Model — 12× in this paper · explained in 8 episodes
• Diffusion Models — 10× in this paper · explained in 6 episodes
• From Scratch — 10× in this paper
• Fine-Tuning — 7× in this paper · explained in 5 episodes
• Continual Learning — 4× in this paper · explained in 2 episodes
• Agent Skills — 3× in this paper · explained in 1 episode
• Score Function — 3× in this paper · explained in 4 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Catastrophic Forgetting — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• CVF International Conference on Computer Vision — 1× in this paper
• Dec-POMDP — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• International Conference on Learning Representations — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Selection Bias — 1× in this paper · explained in 4 episodes
• Self-distillation — 1× in this paper · explained in 6 episodes
• Stochastic Dynamics — 1× in this paper · explained in 2 episodes

Sources

• KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• Planning with Diffusion for Flexible Behavior Synthesis
• 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
• MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
• CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
• Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
• Coordinated Diffusion: Generating Multi-Agent Behavior Without Multi-Agent Demonstrations
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
• Residual Policy Learning

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