Ep#93: CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy

Many tasks cannot be completed by one robot alone. But coordinating multiple robots performing complex manipulation tasks is very difficult. Many solutions rely on complicated centralized control, which tends towards bespoke methods that do not scale well with team size.

Enter CHORUS by Ria Doshi, Jeanette Bohg, and team. They train a single VLA to control multiple, diverse robots, given only local observations and identifying information. This allows robots to collaborate on tasks like using a tape measure, handing over a book, or lifting a laundry basket.

To learn more, watch Episode #93 of Robopapers now, with Michael Cho, Jiafei Duan, and Chris Paxton!

Abstract

Multi-robot collaboration allows robots to efficiently take on a wide range of tasks, from moving a couch through a doorway to assembling structures on a construction site. However, achieving such coordination in mobile multi-robot settings remains challenging: centralized methods conditioned on the combined observations of a team scale poorly with team size, and decentralized methods that train one policy per robot often require explicit alignment procedures or information sharing at inference time to overcome partial observability. Our key insight is that the visuomotor priors of pretrained vision-language-action (VLA) models should enable reactive, decentralized collaboration from each robot's local observations alone, without these inference-time assumptions. We propose CHORUS, a framework that adapts a single VLA backbone to control diverse, multi-robot teams. At inference time, each robot runs an independent copy of CHORUS, conditioned only on its own observations and a robot-identifying prompt. In real-world experiments including mobile tape measurement, library book handovers, and laundry basket lifting, CHORUS achieves a 64% point improvement over decentralized, from-scratch models, improves reactivity to teammate behavior by 40% points, and outperforms centralized baselines. Together, these results show that a shared VLA backbone is capable of achieving decentralized multi-robot collaboration, without per-robot policies or inter-robot communication at inference.

Learn More

Project Page: https://chorus-model.github.io/

ArXiV: https://arxiv.org/abs/2606.12352

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