Learning Communication-Conditioned Generative Policies for Decentralized Multi-Agent Collision Avoidance

• URL: http://arxiv.org/abs/2609.14268v1
• Date: Sun, 13 Sep 2026 04:04:01 GMT
• Title: Learning Communication-Conditioned Generative Policies for Decentralized Multi-Agent Collision Avoidance
• Abstract summary: We propose a decentralized communication-conditioned generative framework for multi-agent collision avoidance.<n>Agents generate short-horizon action sequences using a flow-matching policy trained from privileged offline demonstrations.<n>The proposed approach enables efficient single-step inference of short-horizon action sequences and degrades gracefully under communication dropouts.
• Score: 2.7429630700600893
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In this work, we propose a decentralized communication-conditioned generative framework for multi-agent collision avoidance. Agents generate short-horizon action sequences using a flow-matching policy trained from privileged offline demonstrations with access to global state. The demonstrations do not include explicit communication signals; instead, agents learn to exchange and aggregate latent messages that encode interaction-relevant intent under partial observability. This formulation supports flexible inference at test time, where unconditioned generation corresponds to independent behavior and communication-conditioned generation enables coordinated interaction without centralized planning. The resulting policies operate in a fully decentralized manner at execution time, relying only on local observations and learned messages. Combined with a receding-horizon inference scheme, the proposed approach enables efficient single-step inference of short-horizon action sequences and degrades gracefully under communication dropouts. Extensive simulation results demonstrate near-expert collision avoidance performance and strong generalization to denser, unseen multi-agent scenarios, along with zero-shot transfer to real-robot experiments.

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