{"ID":2852987,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.18085","arxiv_id":"2510.18085","title":"R2BC: Multi-Agent Imitation Learning from Single-Agent Demonstrations","abstract":"Imitation Learning (IL) is a natural way for humans to teach robots, particularly when high-quality demonstrations are easy to obtain. While IL has been widely applied to single-robot settings, relatively few studies have addressed the extension of these methods to multi-agent systems, especially in settings where a single human must provide demonstrations to a team of collaborating robots. In this paper, we introduce and study Round-Robin Behavior Cloning (R2BC), a method that enables a single human operator to effectively train multi-robot systems through sequential, single-agent demonstrations. Our approach allows the human to teleoperate one agent at a time and incrementally teach multi-agent behavior to the entire system, without requiring demonstrations in the joint multi-agent action space. We show that R2BC methods match, and in some cases surpass, the performance of an oracle behavior cloning approach trained on privileged synchronized demonstrations across four multi-agent simulated tasks. Finally, we deploy R2BC on two physical robot tasks trained using real human demonstrations.","short_abstract":"Imitation Learning (IL) is a natural way for humans to teach robots, particularly when high-quality demonstrations are easy to obtain. While IL has been widely applied to single-robot settings, relatively few studies have addressed the extension of these methods to multi-agent systems, especially in settings where a si...","url_abs":"https://arxiv.org/abs/2510.18085","url_pdf":"https://arxiv.org/pdf/2510.18085v1","authors":"[\"Connor Mattson\",\"Varun Raveendra\",\"Ellen Novoseller\",\"Nicholas Waytowich\",\"Vernon J. Lawhern\",\"Daniel S. Brown\"]","published":"2025-10-20T20:24:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.MA\"]","methods":"[]","has_code":false}