Jiyue Tao Shunheng Xin Tongsheng Shen Dexin Zhao Feitian Zhang CoDiMAD: Diffusion-Based Privileged Distillation for Communication-Free Multi-Robot Coordination. 2026 July abs/2607.09587 CoRR https://doi.org/10.48550/arXiv.2607.09587 db/journals/corr/corr2607.html#abs-2607-09587 streams/journals/corr