Co-π-tree

Video-ZSC with human

Human-partner qualitative comparisons across five MARL methods and three Co-π-tree variants on five Overcooked-AI layouts.

5 layouts 8 method slots per role player 0 (blue) / player 1 (green)

Cramped Room

Compact coordination with dense interaction and fast handoffs between the human partner and the evaluated policy.

16 slots
Player 0 (blue)

SP

SP controlling player 0 (blue).

PBT

PBT controlling player 0 (blue).

FCP

FCP controlling player 0 (blue).

MEP

MEP controlling player 0 (blue).

COLE

COLE controlling player 0 (blue).

Co-π-tree

Co-π-tree controlling player 0 (blue).

Co-π-tree-PI

Co-π-tree-PI controlling player 0 (blue).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 0 (blue).

Player 1 (green)

SP

SP controlling player 1 (green).

PBT

PBT controlling player 1 (green).

FCP

FCP controlling player 1 (green).

MEP

MEP controlling player 1 (green).

COLE

COLE controlling player 1 (green).

Co-π-tree

Co-π-tree controlling player 1 (green).

Co-π-tree-PI

Co-π-tree-PI controlling player 1 (green).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 1 (green).

Coordination Ring

Long-horizon movement in the ring highlights how clearly each policy communicates routing intent to a human teammate.

16 slots
Player 0 (blue)

SP

SP controlling player 0 (blue).

PBT

PBT controlling player 0 (blue).

FCP

FCP controlling player 0 (blue).

MEP

MEP controlling player 0 (blue).

COLE

COLE controlling player 0 (blue).

Co-π-tree

Co-π-tree controlling player 0 (blue).

Co-π-tree-PI

Co-π-tree-PI controlling player 0 (blue).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 0 (blue).

Player 1 (green)

SP

SP controlling player 1 (green).

PBT

PBT controlling player 1 (green).

FCP

FCP controlling player 1 (green).

MEP

MEP controlling player 1 (green).

COLE

COLE controlling player 1 (green).

Co-π-tree

Co-π-tree controlling player 1 (green).

Co-π-tree-PI

Co-π-tree-PI controlling player 1 (green).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 1 (green).

Counter Circuit

Counter bottlenecks make this layout especially useful for comparing whether the human partner can read and trust each method's intent.

16 slots
Player 0 (blue)

SP

SP controlling player 0 (blue).

PBT

PBT controlling player 0 (blue).

FCP

FCP controlling player 0 (blue).

MEP

MEP controlling player 0 (blue).

COLE

COLE controlling player 0 (blue).

Co-π-tree

Co-π-tree controlling player 0 (blue).

Co-π-tree-PI

Co-π-tree-PI controlling player 0 (blue).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 0 (blue).

Player 1 (green)

SP

SP controlling player 1 (green).

PBT

PBT controlling player 1 (green).

FCP

FCP controlling player 1 (green).

MEP

MEP controlling player 1 (green).

COLE

COLE controlling player 1 (green).

Co-π-tree

Co-π-tree controlling player 1 (green).

Co-π-tree-PI

Co-π-tree-PI controlling player 1 (green).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 1 (green).

Asymmetric Advantages

Specialized zones create strong role asymmetries, making it easy to inspect how each policy coordinates with a human under structural imbalance.

16 slots
Player 0 (blue)

SP

SP controlling player 0 (blue).

PBT

PBT controlling player 0 (blue).

FCP

FCP controlling player 0 (blue).

MEP

MEP controlling player 0 (blue).

COLE

COLE controlling player 0 (blue).

Co-π-tree

Co-π-tree controlling player 0 (blue).

Co-π-tree-PI

Co-π-tree-PI controlling player 0 (blue).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 0 (blue).

Player 1 (green)

SP

SP controlling player 1 (green).

PBT

PBT controlling player 1 (green).

FCP

FCP controlling player 1 (green).

MEP

MEP controlling player 1 (green).

COLE

COLE controlling player 1 (green).

Co-π-tree

Co-π-tree controlling player 1 (green).

Co-π-tree-PI

Co-π-tree-PI controlling player 1 (green).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 1 (green).

Forced Coordination

Separated workspaces emphasize complementary timing and reveal whether a human can easily anticipate each method's next move.

16 slots
Player 0 (blue)

SP

SP controlling player 0 (blue).

PBT

PBT controlling player 0 (blue).

FCP

FCP controlling player 0 (blue).

MEP

MEP controlling player 0 (blue).

COLE

COLE controlling player 0 (blue).

Co-π-tree

Co-π-tree controlling player 0 (blue).

Co-π-tree-PI

Co-π-tree-PI controlling player 0 (blue).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 0 (blue).

Player 1 (green)

SP

SP controlling player 1 (green).

PBT

PBT controlling player 1 (green).

FCP

FCP controlling player 1 (green).

MEP

MEP controlling player 1 (green).

COLE

COLE controlling player 1 (green).

Co-π-tree

Co-π-tree controlling player 1 (green).

Co-π-tree-PI

Co-π-tree-PI controlling player 1 (green).

Co-π-tree w/o P

Co-π-tree w/o P controlling player 1 (green).