Preprint
Aug 2026
Making two action heads agree: coordination mechanisms and a runtime collapse certificate for flow-matching policies
A chance-corrected coordination bound is derived based only on each branch's Gini-Simpson diversity, yielding an attainable region and a label-free certificate that separates coordination from collapse when zero mismatch is ambiguous.
Jinhui Sun, Wei Zhou, Bo-Wen Yang et al.
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