CoLA: Multi-VLA Coordination via Learned Adapters
Vision-Language-Action (VLA) models are typically deployed as isolated single-agent policies. When several such agents share a workspace, they can coordinate implicitly, by observing one another, or explicitly, by exchanging messages, but it remains unclear when explicit communication becomes necessary. We introduce CoLA (Coordination via Learned Adapters), which keeps each agent's VLA backbone frozen and trains a lightweight message channel and a per-arm diffusion action head on top, with fully decentralised execution. Across three tasks that differ in how much each agent can observe, the channel matters only when information is private. On an occluded tray handover, where the box's colo...
| Authors | Ahaskar Kashyap, Jiawen Zong, Boyu Ma et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 October 2026 |
| Last updated at source | 11 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 14 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.