ResearchBenchmarksMulti-Goal Coordination on Multi-Goal Coordination ScenarioMulti-Goal Coordination on Multi-Goal Coordination ScenarioFollow26.209Initial PerformanceSPIN24.8985525.55377526.20926.864225May 25, 2026Evaluation resultsMethodMethodLinksInitial PerformanceFinal PerformanceMean Improvement (Δ)Trial Standard Deviation (σ)Policy EntropySpatial EntropyVoronoi VariancePath LengthSPIN2026.0526.2096.74619.4623.0051.370.476275,328.87737.588APF2026.0526.2096.83819.3712.9660.6850.482275,679.708111.514CBBA2026.0526.2098.13318.0753.0660.1740.488235,052.587108.919MAPPO2026.0526.20915.02511.1849.8490.5580.2861,349,357.513108.62