Oct 17, 2025, cs.ROJ/K move · Enter open · S save
Taehyeon Kim, Vishnunandan L. N. Venkatesh, Byung-Cheol Min
Purdue University, West Lafayette, IN, USA · Astemo Americas, Inc., Farmington Hills, MI, USA · Indiana University Bloomington, Bloomington, IN, USA
Learning coordinated behaviors for multi-robot systems from only a few demonstrations is difficult because temporal task dependencies and spatial trajectory generation are tightly coupled, which increases the hypothesis space and often yields unstable generalization in data-scarce regimes. We present DDACE, a structured few-shot learning framework that introduces a structural inductive bias by explicitly decoupling temporal coordination from spatial trajectory synthesis. Demonstrations are first processed via spectral clustering to extract coordination structure and form interaction graphs. A Temporal Graph Network predicts action dependencies and sequences, while Gaussian Process models generate progress-parameterized geometric trajectories that adapt to new start/goal configurations. This factorized design reduces hypothesis coupling and improves data efficiency for few-shot multi-robot coordination. Extensive simulation studies and real-robot experiments show that DDACE produces stable coordinated executions from a small number of demonstrations and improves trajectory consistency compared to end-to-end imitation baselines under limited data. Additional materials are available at https://sites.google.com/view/ddace.