DuoMind: Enabling Distributed Multi-Robot Coordination with Semantic Communication
DuoMind coordinates multiple robots using VLM orchestrators, VLA action models, and semantic messages.
DuoMind is a distributed hierarchical framework for multi-robot coordination. Each robot uses a VLM orchestrator for high-level reasoning and peer messaging, plus a VLA action model for low-level execution. The authors introduce RoboPoly, a benchmark of long-horizon manipulation tasks that require closed-loop coordination under distributed control. Experiments on RoboPoly and RoboTwin attribute gains to hierarchical orchestration and semantic communication.
- Each robot pairs a VLM orchestrator with a VLA action model.
- Orchestrators exchange semantic messages and issue low-level instructions.
- RoboPoly benchmarks long-horizon distributed manipulation tasks.
- Ablations support hierarchy and semantic communication.
From the original article
1 min read at arxiv.orgVision-language models (VLMs) and vision-language-action models (VLAs) have recently driven rapid progress in general-purpose robots, yet most progress has focused on single-robot settings. Extending these capabilities to multi-robot systems remains challenging because robots must coordinate long-horizon behaviors while maintaining reliable, fine-grained execution.
By Hanchu Zhou · arxiv.org
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