“…Indeed, the studies reviewed above document the role of emergent coordination mechanisms in supporting very simple forms of joint action that typically involve agents who perform very similar actions at the same time (e.g., tap in synchrony to the same beat, imitate each other's motion or emotional displays, etc.). A large literature has documented the pervasiveness of these mechanisms, at the behavioral, physiological, and neural levels, and the role they play in coordination from infancy to adulthood (Helm, Miller, Kahle, Troxel, & Hastings, 2018; Wass, Whitehorn, Marriott Haresign, Phillips, & Leong, 2020). Yet how they could account for complex forms of collective improvisations, where each agent has to perform a different type of action, and where no temporal structure is present to support mechanisms such as entrainment, is really unclear.…”