Daily Papers

Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized approach for outer-loop control of large multi-agent systems based on the paradigm of how a fluid moves through a volume is proposed and evaluated. A relationship between fundamental fluidic element properties and individual robotic agent states is developed such that the corresponding swarm "flows" through a space, akin to a fluid when forced via a pressure boundary condition. By ascribing fluid-like properties to subsets of agents, the swarm evolves collectively while maintaining desirable structure and coherence without explicit communication of agent states within or outside of the swarm. The approach is evaluated using simulations involving O(10^3) quadcopter agents and compared against Computational Fluid Dynamics (CFD) solutions for a converging-diverging domain. Quantitative agreement between swarm-derived and CFD fields is assessed using Root-Mean-Square Error (RMSE), yielding normalized errors of 0.15-0.9 for velocity, 0.61-0.98 for density, 0-0.937 for pressure. These results demonstrate the feasibility of treating large robotic swarms as continuum systems that retain the macroscopic structure derived from first principles, providing a basis for scalable and decentralized control.

Multi-agent large language model systems can tackle complex multi-step tasks by decomposing work and coordinating specialized behaviors. However, current coordination mechanisms typically rely on statically assigned roles and centralized controllers. As agent pools and task distributions evolve, these design choices lead to inefficient routing, poor adaptability, and fragile fault recovery capabilities. We introduce Symphony-Coord, a decentralized multi-agent framework that transforms agent selection into an online multi-armed bandit problem, enabling roles to emerge organically through interaction. The framework employs a two-stage dynamic beacon protocol: (i) a lightweight candidate screening mechanism to limit communication and computational overhead; (ii) an adaptive LinUCB selector that routes subtasks based on context features derived from task requirements and agent states, continuously optimized through delayed end-to-end feedback. Under standard linear realizability assumptions, we provide sublinear regret bounds, indicating the system converges toward near-optimal allocation schemes. Validation through simulation experiments and real-world large language model benchmarks demonstrates that Symphony-Coord not only enhances task routing efficiency but also exhibits robust self-healing capabilities in scenarios involving distribution shifts and agent failures, achieving a scalable coordination mechanism without predefined roles.

The proliferation of collaborative robots across diverse tasks and embodiments presents a central challenge: achieving lifelong adaptability, scalable coordination, and robust scheduling in multi-agent systems. Existing approaches, from vision-language-action (VLA) models to hierarchical frameworks, fall short due to their reliance on limited or dividual-agent memory. This fundamentally constrains their ability to learn over long horizons, scale to heterogeneous teams, or recover from failures, highlighting the need for a unified memory representation. To address these limitations, we introduce RoboOS-NeXT, a unified memory-based framework for lifelong, scalable, and robust multi-robot collaboration. At the core of RoboOS-NeXT is the novel Spatio-Temporal-Embodiment Memory (STEM), which integrates spatial scene geometry, temporal event history, and embodiment profiles into a shared representation. This memory-centric design is integrated into a brain-cerebellum framework, where a high-level brain model performs global planning by retrieving and updating STEM, while low-level controllers execute actions locally. This closed loop between cognition, memory, and execution enables dynamic task allocation, fault-tolerant collaboration, and consistent state synchronization. We conduct extensive experiments spanning complex coordination tasks in restaurants, supermarkets, and households. Our results demonstrate that RoboOS-NeXT achieves superior performance across heterogeneous embodiments, validating its effectiveness in enabling lifelong, scalable, and robust multi-robot collaboration. Project website: https://flagopen.github.io/RoboOS/

Large language models (LLMs) have enabled a new class of agentic AI systems that reason, plan, and act by invoking external tools. However, most existing agentic architectures remain centralized and monolithic, limiting scalability, specialization, and interoperability. This paper proposes a framework for scalable agentic intelligence, termed the Internet of Agentic AI, in which autonomous, heterogeneous agents distributed across cloud and edge infrastructure dynamically form coalitions to execute task-driven workflows. We formalize a network-native model of agentic collaboration and introduce an incentive-compatible workflow-coalition feasibility framework that integrates capability coverage, network locality, and economic implementability. To enable scalable coordination, we formulate a minimum-effort coalition selection problem and propose a decentralized coalition formation algorithm. The proposed framework can operate as a coordination layer above the Model Context Protocol (MCP). A healthcare case study demonstrates how domain specialization, cloud-edge heterogeneity, and dynamic coalition formation enable scalable, resilient, and economically viable agentic workflows. This work lays the foundation for principled coordination and scalability in the emerging era of Internet of Agentic AI.

Multi-agent reinforcement learning (MARL) has emerged as a promising solution for learning complex and scalable coordination behaviors in multi-robot systems. However, established MARL platforms (e.g., SMAC and MPE) lack robotics relevance and hardware deployment, leaving multi-robot learning researchers to develop bespoke environments and hardware testbeds dedicated to the development and evaluation of their individual contributions. The Multi-Agent RL Benchmark and Learning Environment for the Robotarium (MARBLER) is an exciting recent step in providing a standardized robotics-relevant platform for MARL, by bridging the Robotarium testbed with existing MARL software infrastructure. However, MARBLER lacks support for parallelization and GPU/TPU execution, making the platform prohibitively slow compared to modern MARL environments and hindering adoption. We contribute JaxRobotarium, a Jax-powered end-to-end simulation, learning, deployment, and benchmarking platform for the Robotarium. JaxRobotarium enables rapid training and deployment of multi-robot RL (MRRL) policies with realistic robot dynamics and safety constraints, supporting parallelization and hardware acceleration. Our generalizable learning interface integrates easily with SOTA MARL libraries (e.g., JaxMARL). In addition, JaxRobotarium includes eight standardized coordination scenarios, including four novel scenarios that bring established MARL benchmark tasks (e.g., RWARE and Level-Based Foraging) to a robotics setting. We demonstrate that JaxRobotarium retains high simulation fidelity while achieving dramatic speedups over baseline (20x in training and 150x in simulation), and provides an open-access sim-to-real evaluation pipeline through the Robotarium testbed, accelerating and democratizing access to multi-robot learning research and evaluation. Our code is available at https://github.com/GT-STAR-Lab/JaxRobotarium.

Physics-based humanoid control has achieved remarkable progress in enabling realistic and high-performing single-agent behaviors, yet extending these capabilities to cooperative human-object interaction (HOI) remains challenging. We present TeamHOI, a framework that enables a single decentralized policy to handle cooperative HOIs across any number of cooperating agents. Each agent operates using local observations while attending to other teammates through a Transformer-based policy network with teammate tokens, allowing scalable coordination across variable team sizes. To enforce motion realism while addressing the scarcity of cooperative HOI data, we further introduce a masked Adversarial Motion Prior (AMP) strategy that uses single-human reference motions while masking object-interacting body parts during training. The masked regions are then guided through task rewards to produce diverse and physically plausible cooperative behaviors. We evaluate TeamHOI on a challenging cooperative carrying task involving two to eight humanoid agents and varied object geometries. Finally, to promote stable carrying, we design a team-size- and shape-agnostic formation reward. TeamHOI achieves high success rates and demonstrates coherent cooperation across diverse configurations with a single policy.

Multi-agent systems represent a significant advancement in artificial intelligence, enabling complex problem-solving through coordinated specialized agents. However, these systems face fundamental challenges in context management, coordination efficiency, and scalable operation. This paper introduces a comprehensive framework for advancing multi-agent systems through Model Context Protocol (MCP), addressing these challenges through standardized context sharing and coordination mechanisms. We extend previous work on AI agent architectures by developing a unified theoretical foundation, advanced context management techniques, and scalable coordination patterns. Through detailed implementation case studies across enterprise knowledge management, collaborative research, and distributed problem-solving domains, we demonstrate significant performance improvements compared to traditional approaches. Our evaluation methodology provides a systematic assessment framework with benchmark tasks and datasets specifically designed for multi-agent systems. We identify current limitations, emerging research opportunities, and potential transformative applications across industries. This work contributes to the evolution of more capable, collaborative, and context-aware artificial intelligence systems that can effectively address complex real-world challenges.

Language model (LM) agents have gained significant attention for their ability to autonomously complete tasks through interactions with environments, tools, and APIs. LM agents are primarily built with prompt engineering or supervised finetuning. At the same time, reinforcement learning (RL) has been explored to enhance LM's capabilities, such as reasoning and factuality. However, the combination of the LM agents and reinforcement learning (Agent-RL) remains underexplored and lacks systematic study. To this end, we built AgentFly, a scalable and extensible Agent-RL framework designed to empower LM agents with a variety of RL algorithms. Our framework supports multi-turn interactions by adapting traditional RL methods with token-level masking. It features a decorator-based interface for defining tools and reward functions, enabling seamless extension and ease of use. To support high-throughput training, we implement asynchronous execution of tool calls and reward computations, and design a centralized resource management system for scalable environment coordination. We also provide a suite of prebuilt tools and environments, demonstrating the framework's effectiveness through successful agent training across multiple tasks.

Large Language Models (LLMs) have become foundational to modern AI agent systems, enabling autonomous agents to reason and plan. In most existing systems, inter-agent communication relies primarily on natural language. While this design supports interpretability and human oversight, we argue that it introduces fundamental limitations in agent-to-agent coordination. The semantic space of natural language is structurally misaligned with the high-dimensional vector spaces in which LLMs operate, resulting in information loss and behavioral drift. Beyond surface-level inefficiencies, we highlight a deeper architectural limitation: current LLMs were not trained with the objective of supporting agentic behavior. As such, they lack mechanisms for modeling role continuity, task boundaries, and multi-agent dependencies. The standard next-token prediction paradigm fails to support the structural alignment required for robust, scalable agent coordination. Based on this, we argue that two core questions deserve careful examination: first, given that AI agents fundamentally operate in high-dimensional vector spaces, should they rely on a language system originally designed for human cognition as their communication medium? Second, should we consider developing a new model construction paradigm that builds models from the ground up to natively support structured communication, shared intentionality, and task alignment in multi-role, multi-agent environments? This paper calls for a reconsideration not only of how agents should communicate, but also of what it fundamentally means to train a model that natively supports multi-agent coordination and communication.

Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or learn them end-to-end. We investigate this dichotomy using embodied world models. We propose and compare two communication strategies for a cooperative task-allocation problem. The first, Learned Direct Communication (LDC), learns a protocol end-to-end, with agents generating messages and actions concurrently. The second, Intention Communication, uses an engineered inductive bias: a compact, learned world model, the Imagined Trajectory Generation Module (ITGM), to simulate future states. Agents then communicate a summary of this plan. We evaluate these approaches on goal-directed interaction in a grid world, a canonical abstraction for embodied AI problems. Our experiments reveal that while emergent communication is viable in simple settings, the engineered, world model-based approach shows superior performance, sample efficiency, and scalability as complexity increases. These findings advocate for integrating structured, predictive models into MARL agents to enable active, goal-driven coordination.

The evolution of Large Language Models (LLMs) from passive text generators to autonomous, goal-driven systems represents a fundamental shift in artificial intelligence. This chapter examines the emergence of agentic AI systems that integrate planning, memory, tool use, and iterative reasoning to operate autonomously in complex environments. We trace the architectural progression from statistical models to transformer-based systems, identifying capabilities that enable agentic behavior: long-range reasoning, contextual awareness, and adaptive decision-making. The chapter provides three contributions: (1) a synthesis of how LLM capabilities extend toward agency through reasoning-action-reflection loops; (2) an integrative framework describing core components perception, memory, planning, and tool execution that bridge LLMs with autonomous behavior; (3) a critical assessment of applications and persistent challenges in safety, alignment, reliability, and sustainability. Unlike existing surveys, we focus on the architectural transition from language understanding to autonomous action, emphasizing the technical gaps that must be resolved before deployment. We identify critical research priorities, including verifiable planning, scalable multi-agent coordination, persistent memory architectures, and governance frameworks. Responsible advancement requires simultaneous progress in technical robustness, interpretability, and ethical safeguards to realize potential while mitigating risks of misalignment and unintended consequences.

Large language model (LLM) agents have shown remarkable reasoning abilities. However, existing multi-agent frameworks often rely on fixed roles or centralized control, limiting scalability and adaptability in long-horizon reasoning. We introduce SwarmSys, a closed-loop framework for distributed multi-agent reasoning inspired by swarm intelligence. Coordination in SwarmSys emerges through iterative interactions among three specialized roles, Explorers, Workers, and Validators, that continuously cycle through exploration, exploitation, and validation. To enable scalable and adaptive collaboration, we integrate adaptive agent and event profiles, embedding-based probabilistic matching, and a pheromone-inspired reinforcement mechanism, supporting dynamic task allocation and self-organizing convergence without global supervision. Across symbolic reasoning, research synthesis, and scientific programming tasks, SwarmSys consistently outperforms baselines, improving both accuracy and reasoning stability. These findings highlight swarm-inspired coordination as a promising paradigm for scalable, robust, and adaptive multi-agent reasoning, suggesting that coordination scaling may rival model scaling in advancing LLM intelligence.

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving low-latency and robust onboard egocentric perception under fast robot motion, and obtaining sufficiently diverse task-aligned strike motions for learning precise yet natural whole-body behaviors. In this work, we present \methodname, a modular system for agile humanoid table tennis that unifies scalable whole-body skill learning with onboard egocentric perception, eliminating the need for external cameras during deployment. Our work advances prior humanoid table-tennis systems in three key aspects. First, we achieve agile and precise ball interaction with tightly coordinated whole-body control, rather than relying on decoupled upper- and lower-body behaviors. This enables the system to exhibit diverse strike motions, including explosive whole-body smashes and low crouching shots. Second, by augmenting and diversifying strike motions with a generative model, our framework benefits from scalable motion priors and produces natural, robust striking behaviors across a wide workspace. Third, to the best of our knowledge, we demonstrate the first humanoid table-tennis system capable of consecutive strikes using onboard sensing alone, despite the challenges of low-latency perception, ego-motion-induced instability, and limited field of view. Extensive real-world experiments demonstrate stable and precise ball exchanges under high-speed conditions, validating scalable, perception-driven whole-body skill learning for dynamic humanoid interaction tasks.

Quantitative risk assessment in high-stakes domains relies on structured expert elicitation to estimate unobservable properties. The gold standard - the Delphi method - produces calibrated, auditable judgments but requires months of coordination and specialist time, placing rigorous risk assessment out of reach for most applications. We investigate whether Large Language Models (LLMs) can serve as scalable proxies for structured expert elicitation. We propose Scalable Delphi, adapting the classical protocol for LLMs with diverse expert personas, iterative refinement, and rationale sharing. Because target quantities are typically unobservable, we develop an evaluation framework based on necessary conditions: calibration against verifiable proxies, sensitivity to evidence, and alignment with human expert judgment. We evaluate in the domain of AI-augmented cybersecurity risk, using three capability benchmarks and independent human elicitation studies. LLM panels achieve strong correlations with benchmark ground truth (Pearson r=0.87-0.95), improve systematically as evidence is added, and align with human expert panels - in one comparison, closer to a human panel than the two human panels are to each other. This demonstrates that LLM-based elicitation can extend structured expert judgment to settings where traditional methods are infeasible, reducing elicitation time from months to minutes.

Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic Unconstrained Binary Optimization (QUBO) as a structurally scalable alternative for simultaneous multi-robot path planning. This approach is a robotics-oriented QUBO formulation incorporating BFS-based logical pre-processing (achieving over 95% variable reduction), adaptive penalty design for collision and constraint enforcement, and a time-windowed decomposition strategy that enables execution within current hardware limitations. An experimental evaluation in grid environments with up to four robots demonstrated near-optimal solutions in dense scenarios and favorable scaling behavior compared to sequential classical planning. These results establish a practical and reproducible baseline for future quantum and quantum-inspired multi-robot coordinations.

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques, such as in-context learning or re-prompting with state feedback, placing new importance on the token budget for the context window. An under-explored but natural next direction is to investigate LLMs as multi-robot task planners. However, long-horizon, heterogeneous multi-robot planning introduces new challenges of coordination while also pushing up against the limits of context window length. It is therefore critical to find token-efficient LLM planning frameworks that are also able to reason about the complexities of multi-robot coordination. In this work, we compare the task success rate and token efficiency of four multi-agent communication frameworks (centralized, decentralized, and two hybrid) as applied to four coordination-dependent multi-agent 2D task scenarios for increasing numbers of agents. We find that a hybrid framework achieves better task success rates across all four tasks and scales better to more agents. We further demonstrate the hybrid frameworks in 3D simulations where the vision-to-text problem and dynamical errors are considered. See our project website https://yongchao98.github.io/MIT-REALM-Multi-Robot/ for prompts, videos, and code.

The growing context lengths of large language models (LLMs) pose significant challenges for efficient inference, primarily due to GPU memory and bandwidth constraints. We present RetroInfer, a novel system that reconceptualizes the key-value (KV) cache as a vector storage system which exploits the inherent attention sparsity to accelerate long-context LLM inference. At its core is the wave index, an Attention-aWare VEctor index that enables efficient and accurate retrieval of critical tokens through techniques such as tripartite attention approximation, accuracy-bounded attention estimation, and segmented clustering. Complementing this is the wave buffer, which coordinates KV cache placement and overlaps computation and data transfer across GPU and CPU to sustain high throughput. Unlike prior sparsity-based methods that struggle with token selection and hardware coordination, RetroInfer delivers robust performance without compromising model accuracy. Experiments on long-context benchmarks show up to 4.5X speedup over full attention within GPU memory limits and up to 10.5X over sparse attention baselines when KV cache is extended to CPU memory, all while preserving full-attention-level accuracy.

Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grounded data but is prohibitively labor-intensive, while simulation-based synthesis scales efficiently but suffers from sim-to-real gaps. We present BiDemoSyn, a framework that synthesizes contact-rich, physically feasible bimanual demonstrations from a single real-world example. The key idea is to decompose tasks into invariant coordination blocks and variable, object-dependent adjustments, then adapt them through vision-guided alignment and lightweight trajectory optimization. This enables the generation of thousands of diverse and feasible demonstrations within several hours, without repeated teleoperation or reliance on imperfect simulation. Across six dual-arm tasks, we show that policies trained on BiDemoSyn data generalize robustly to novel object poses and shapes, significantly outperforming recent strong baselines. Beyond the one-shot setting, BiDemoSyn naturally extends to few-shot-based synthesis, improving object-level diversity and out-of-distribution generalization while maintaining strong data efficiency. Moreover, policies trained on BiDemoSyn data exhibit zero-shot cross-embodiment transfer to new robotic platforms, enabled by object-centric observations and a simplified 6-DoF end-effector action representation that decouples policies from embodiment-specific dynamics. By bridging the gap between efficiency and real-world fidelity, BiDemoSyn provides a scalable path toward practical imitation learning for complex bimanual manipulation without compromising physical grounding.

Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot can achieve, R2R alone cannot overcome partial observability without substantial exploration overhead or scaling team size. In contrast, many indoor environments already include low-cost Internet of Things (IoT) sensors (e.g., cameras) that provide persistent, building-wide context beyond onboard perception. We therefore introduce IndoorR2X, the first benchmark and simulation framework for Large Language Model (LLM)-driven multi-robot task planning with Robot-to-Everything (R2X) perception and communication in indoor environments. IndoorR2X integrates observations from mobile robots and static IoT devices to construct a global semantic state that supports scalable scene understanding, reduces redundant exploration, and enables high-level coordination through LLM-based planning. IndoorR2X provides configurable simulation environments, sensor layouts, robot teams, and task suites to systematically evaluate high-level semantic coordination strategies. Extensive experiments across diverse settings demonstrate that IoT-augmented world modeling improves multi-robot efficiency and reliability, and we highlight key insights and failure modes for advancing LLM-based collaboration between robot teams and indoor IoT sensors. See our project website: https://fandulu.github.io/IndoorR2X_project_page/.

High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require continuous coordination between SE(2) locomotion and precise manipulation, exposing limitations in existing teleoperation and wearable interfaces. We present SuperSuit, a bimodal data acquisition framework that supports both robot-in-the-loop teleoperation and active demonstration under a shared kinematic interface. Both modalities produce structurally identical joint-space trajectories, enabling direct data mixing without modifying downstream policies. For locomotion, SuperSuit maps natural human stepping to continuous planar base velocities, eliminating discrete command switches. For manipulation, it employs a strictly isomorphic wearable arm in both modes, while policy training is formulated in a shift-invariant delta-joint representation to mitigate calibration offsets and structural compliance without inverse kinematics. Real-world experiments on long-horizon mobile manipulation tasks show 2.6times higher demonstration throughput in active mode compared to a teleoperation baseline, comparable policy performance when substituting teleoperation data with active demonstrations at fixed dataset size, and monotonic performance improvement as active data volume increases. These results indicate that consistent kinematic representations across collection modalities enable scalable data acquisition for long-horizon mobile manipulation.

Vision language models (VLMs) achieve strong performance on general image understanding but struggle to think with medical images, especially when performing multi-step reasoning through iterative visual interaction. Medical VLMs often rely on static visual embeddings and single-pass inference, preventing models from re-examining, verifying, or refining visual evidence during reasoning. While tool-integrated reasoning offers a promising path forward, open-source VLMs lack the training infrastructure to learn effective tool selection, invocation, and coordination in multi-modal medical reasoning. We introduce MedVistaGym, a scalable and interactive training environment that incentivizes tool-integrated visual reasoning for medical image analysis. MedVistaGym equips VLMs to determine when and which tools to invoke, localize task-relevant image regions, and integrate single or multiple sub-image evidence into interleaved multimodal reasoning within a unified, executable interface for agentic training. Using MedVistaGym, we train MedVistaGym-R1 to interleave tool use with agentic reasoning through trajectory sampling and end-to-end reinforcement learning. Across six medical VQA benchmarks, MedVistaGym-R1-8B exceeds comparably sized tool-augmented baselines by 19.10% to 24.21%, demonstrating that structured agentic training--not tool access alone--unlocks effective tool-integrated reasoning for medical image analysis.

We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome counts, masking differences in execution quality and obscuring failure structure. RoboEval provides eight bimanual tasks with systematically controlled variations, more than three thousand expert demonstrations, and a modular simulation platform for reproducible experimentation. All tasks are instrumented with standardized metrics that quantify efficiency, coordination, and safety/stability, as well as outcome measures that trace stagewise progress and localize failure modes. Through extensive experiments with state-of-the-art visuomotor policies, we validate these metrics by analyzing their stability under variation, discriminative power across policies with similar success rates, and correlation with task success. Project Page: https://robo-eval.github.io

Large Language Models (LLMs) achieve strong performance across diverse tasks but face prohibitive computational and memory costs. Pruning offers a promising path by inducing sparsity while preserving architectural flexibility. However, existing methods struggle to balance efficiency and robustness: local metric approaches prune layer by layer but often collapse under high sparsity, whereas global feedback methods enforce consistency at the cost of expensive weight updates or restrictive semi-structured formats. We present UniPruning, a unified post-training pruning framework that combines the speed of local saliency metrics with the stability of global coordination, enabled by a mirror descent based optimization, all without updating model weights. UniPruning leverages fast layer-wise scoring and a lightweight global controller to allocate a single sparsity budget, supporting both unstructured and semi-structured N :M pruning within one framework. After a brief calibration, it can generate pruning masks for arbitrary sparsity levels in one shot, and adapts seamlessly to hardware-aware constraints. Extensive experiments on multiple pretrained LLM families and standard benchmarks show that UniPruning consistently delivers competitive or superior perplexity and zero-shot accuracy. Ablation studies further highlight the importance of mirror descent and local saliency anchoring. Overall, UniPruning provides an efficient, principled, and scalable solution for sparsifying large-scale LLMs. Our code is available at: https://github.com/RainbowQTT/UniPruning.

The growing scale of modern farms has increased the need for efficient and adaptive multi-agent coverage strategies for pest, weed, and disease management. Traditional methods such as manual inspection and blanket pesticide spraying often lead to excessive chemical use, resource waste, and environmental impact. While unmanned aerial vehicles (UAVs) offer a promising platform for precision agriculture through targeted spraying and improved operational efficiency, existing UAV-based approaches remain limited by battery life, payload capacity, and scalability, especially in large fields where single-UAV or uniformly distributed spraying is insufficient. Although multi-UAV coordination has been explored, many current frameworks still assume uniform spraying and do not account for infestation severity, UAV dynamics, non-uniform resource allocation, or energy-efficient coordination. To address these limitations, this paper proposes a Density-Driven Optimal Control (D2OC) framework that integrates Optimal Transport (OT) theory with multi-UAV coverage control for large-scale agricultural spraying. The method supports non-uniform, priority-aware resource allocation based on infestation intensity, reducing unnecessary chemical application. UAVs are modeled as a linear time-varying (LTV) system to capture variations in mass and inertia during spraying missions. The D2OC control law, derived using Lagrangian mechanics, enables efficient coordination, balanced workload distribution, and improved mission duration. Simulation results demonstrate that the proposed approach outperforms uniform spraying and Spectral Multiscale Coverage (SMC) in coverage efficiency, chemical reduction, and operational sustainability, providing a scalable solution for smart agriculture.

The rapid growth of Internet of Things (IoT) ecosystems has intensified the challenge of efficiently allocating heterogeneous resources in highly dynamic, distributed environments. Conventional centralized mechanisms and single-objective auction models, focusing solely on metrics such as cost minimization or revenue maximization, struggle to deliver balanced system performance. This paper proposes the Multi-Objective Hierarchical Auction Framework (MOHAF), a distributed resource allocation mechanism that jointly optimizes cost, Quality of Service (QoS), energy efficiency, and fairness. MOHAF integrates hierarchical clustering to reduce computational complexity with a greedy, submodular optimization strategy that guarantees a (1-1/e) approximation ratio. A dynamic pricing mechanism adapts in real time to resource utilization, enhancing market stability and allocation quality. Extensive experiments on the Google Cluster Data trace, comprising 3,553 requests and 888 resources, demonstrate MOHAF's superior allocation efficiency (0.263) compared to Greedy (0.185), First-Price (0.138), and Random (0.101) auctions, while achieving perfect fairness (Jain's index = 1.000). Ablation studies reveal the critical influence of cost and QoS components in sustaining balanced multi-objective outcomes. With near-linear scalability, theoretical guarantees, and robust empirical performance, MOHAF offers a practical and adaptable solution for large-scale IoT deployments, effectively reconciling efficiency, equity, and sustainability in distributed resource coordination.

Agents, language model (LM)-based systems that are capable of reasoning, planning, and acting are becoming the dominant paradigm for real-world AI applications. Despite this widespread adoption, the principles that determine their performance remain underexplored, leaving practitioners to rely on heuristics rather than principled design choices. We address this gap by deriving quantitative scaling principles for agent systems. We evaluate this across four diverse benchmarks: Finance-Agent, BrowseComp-Plus, PlanCraft, and Workbench. Using five canonical architectures (Single, Independent, Centralized, Decentralized, Hybrid) instantiated across three LLM families, we perform a controlled evaluation spanning 180 configurations with standardized tools and token budgets. We derive a predictive model using empirical coordination metrics, including efficiency, overhead, error amplification, and redundancy, that achieves cross-validated R^2=0.513. We identify three dominant effects: (1) a tool-coordination trade-off: under fixed computational budgets, tool-heavy tasks suffer disproportionately from multi-agent overhead. (2) a capability saturation: coordination yields diminishing or negative returns (beta=-0.408, p<0.001) once single-agent baselines exceed ~45%. (3) topology-dependent error amplification: independent agents amplify errors 17.2x through unchecked propagation, while centralized coordination contains this to 4.4x. Centralized coordination improves performance by 80.9% on parallelizable tasks like financial reasoning, while decentralized coordination excels on dynamic web navigation (+9.2% vs. +0.2%). Yet for sequential reasoning tasks, all multi-agent variants degraded performance by 39-70%. The framework predicts the optimal coordination strategy for 87% of held-out configurations, providing a predictive principle of agentic scaling based on measurable task properties.

This work presents MAC-Flow, a simple yet expressive framework for multi-agent coordination. We argue that requirements of effective coordination are twofold: (i) a rich representation of the diverse joint behaviors present in offline data and (ii) the ability to act efficiently in real time. However, prior approaches often sacrifice one for the other, i.e., denoising diffusion-based solutions capture complex coordination but are computationally slow, while Gaussian policy-based solutions are fast but brittle in handling multi-agent interaction. MAC-Flow addresses this trade-off by first learning a flow-based representation of joint behaviors, and then distilling it into decentralized one-step policies that preserve coordination while enabling fast execution. Across four different benchmarks, including 12 environments and 34 datasets, MAC-Flow alleviates the trade-off between performance and computational cost, specifically achieving about times14.5 faster inference compared to diffusion-based MARL methods, while maintaining good performance. At the same time, its inference speed is similar to that of prior Gaussian policy-based offline multi-agent reinforcement learning (MARL) methods.

The rapid advancement of large language models (LLMs) has enabled the development of multi-agent systems where multiple LLM-based agents collaborate on complex tasks. However, existing systems often rely on centralized coordination, leading to scalability bottlenecks, reduced adaptability, and single points of failure. Privacy and proprietary knowledge concerns further hinder cross-organizational collaboration, resulting in siloed expertise. We propose AgentNet, a decentralized, Retrieval-Augmented Generation (RAG)-based framework that enables LLM-based agents to specialize, evolve, and collaborate autonomously in a dynamically structured Directed Acyclic Graph (DAG). Unlike prior approaches with static roles or centralized control, AgentNet allows agents to adjust connectivity and route tasks based on local expertise and context. AgentNet introduces three key innovations: (1) a fully decentralized coordination mechanism that eliminates the need for a central orchestrator, enhancing robustness and emergent intelligence; (2) dynamic agent graph topology that adapts in real time to task demands, ensuring scalability and resilience; and (3) a retrieval-based memory system for agents that supports continual skill refinement and specialization. By minimizing centralized control and data exchange, AgentNet enables fault-tolerant, privacy-preserving collaboration across organizations. Experiments show that AgentNet achieves higher task accuracy than both single-agent and centralized multi-agent baselines.

Recently, multi-time-scale agent architectures have extended the ubiquitous single-loop paradigm by introducing temporal hierarchies with distinct cognitive layers. While yielding substantial performance gains, this diversification fundamentally compromises the coordination stability intrinsic to unified agent systems, which causes severe inter-layer conflicts, unbounded error propagation, and restricted scalability. To address these challenges, we propose Constrained Temporal Hierarchical Architecture (CTHA), a general framework that projects the inter-layer communication space onto structured manifolds to restore coordination stability, while incorporating principled arbitration mechanisms to ensure coherent decision-making. Specifically, CTHA enforces three key constraints: (1) Message Contract Constraints that formalize information flow between layers via typed summary, plan, and policy packets; (2) Authority Manifold Constraints that bound each layer's decision space according to its temporal scope; and (3) Arbiter Resolution Constraints that guarantee conflict-free composition of multi-layer decisions. Empirical experiments demonstrate that CTHA is effective for complex task execution at scale, offering 47% reduction in failure cascades, 2.3x improvement in sample efficiency, and superior scalability compared to unconstrained hierarchical baselines. We anticipate that CTHA, as a principled extension of temporal hierarchies, will contribute to a deeper understanding of multi-agent coordination and suggest promising directions for the evolution of robust autonomous systems.

Large language models (LLMs) are increasingly deployed in teams, yet existing coordination approaches often occupy two extremes. Highly structured methods rely on fixed roles, pipelines, or task decompositions assigned a priori. In contrast, fully unstructured teams enable adaptability and exploration but suffer from inefficiencies such as error propagation, inter-agent conflicts, and wasted resources (measured in time, tokens, or file operations). We introduce Language Agent Teams for Task Evolution (LATTE), a framework for coordinating LLM teams inspired by distributed systems, where processors must operate under partial observability and communication constraints. In LATTE, a team of agents collaboratively construct and maintain a shared, evolving coordination graph which encodes sub-task dependencies, individual agent assignment, and the current state of sub-task progress. This protocol maintains consistency while empowering agents to dynamically allocate work, adapt coordination, and discover new tasks. Across multiple collaborative tasks and a variety of base models, we demonstrate how LATTE reduces token usage, wall-clock time, communication, and coordination failures (e.g. file conflicts and redundant outputs) while matching or exceeding the accuracy of standard designs including MetaGPT, decentralized teams, top-down Leader-Worker hierarchies, and static decompositions.

Vision-Language Models (VLMs) enable powerful multi-agent systems, but scaling them is economically unsustainable: coordinating heterogeneous agents under information asymmetry often spirals costs. Existing paradigms, such as Mixture-of-Agents and knowledge-based routers, rely on heuristic proxies that ignore costs and collapse uncertainty structure, leading to provably suboptimal coordination. We introduce Agora, a framework that reframes coordination as a decentralized market for uncertainty. Agora formalizes epistemic uncertainty into a structured, tradable asset (perceptual, semantic, inferential), and enforces profitability-driven trading among agents based on rational economic rules. A market-aware broker, extending Thompson Sampling, initiates collaboration and guides the system toward cost-efficient equilibria. Experiments on five multimodal benchmarks (MMMU, MMBench, MathVision, InfoVQA, CC-OCR) show that Agora outperforms strong VLMs and heuristic multi-agent strategies, e.g., achieving +8.5% accuracy over the best baseline on MMMU while reducing cost by over 3x. These results establish market-based coordination as a principled and scalable paradigm for building economically viable multi-agent visual intelligence systems.

Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated balance, contact, and manipulation can emerge naturally from underlying physical and motor priors. Scaling such priors is key to enabling humanoids to compose and generalize loco-manipulation skills across diverse contexts while maintaining physically coherent whole-body coordination. To this end, we introduce InterPrior, a scalable framework that learns a unified generative controller through large-scale imitation pretraining and post-training by reinforcement learning. InterPrior first distills a full-reference imitation expert into a versatile, goal-conditioned variational policy that reconstructs motion from multimodal observations and high-level intent. While the distilled policy reconstructs training behaviors, it does not generalize reliably due to the vast configuration space of large-scale human-object interactions. To address this, we apply data augmentation with physical perturbations, and then perform reinforcement learning finetuning to improve competence on unseen goals and initializations. Together, these steps consolidate the reconstructed latent skills into a valid manifold, yielding a motion prior that generalizes beyond the training data, e.g., it can incorporate new behaviors such as interactions with unseen objects. We further demonstrate its effectiveness for user-interactive control and its potential for real robot deployment.

As large language model (LLM)-based multi-agent systems scale to handle increasingly complex tasks, balancing structural stability and dynamic adaptability becomes increasingly challenging. Existing systems typically adopt either structure-centric methods, committing to structures determined upfront that limit fine-grained control, or orchestration-centric methods, adapting decisions dynamically while leaving coordination structure implicit and unstable. To address this challenge, we revisit multi-agent coordination from a probabilistic perspective, casting it as posterior inference over the joint distribution of structure and orchestration. We introduce MACA, an automated coordination framework that learns a task- and budget-conditioned structural prior over agent participation and interactions. This prior guides a policy-based orchestration as an approximation to posterior inference, enabling efficient solutions with fine-grained control. Across benchmarks, MACA outperforms adaptive multi-agent baselines by an average of 8.42% while using 43.19% fewer tokens. Further investigation reveals that joint adaptation of structure and orchestration suppresses redundant interactions, converging coordination toward task-effective execution.

Recent advances in large language models(LLMs) enable compelling story generation, but connecting narrative text to playable visual environments remains an open challenge in procedural content generation(PCG). We present a lightweight pipeline that transforms short narrative prompts into a sequence of 2D tile-based game scenes, reflecting the temporal structure of stories. Given an LLM-generated narrative, our system identifies three key time frames, extracts spatial predicates in the form of "Object-Relation-Object" triples, and retrieves visual assets using affordance-aware semantic embeddings from the GameTileNet dataset. A layered terrain is generated using Cellular Automata, and objects are placed using spatial rules grounded in the predicate structure. We evaluated our system in ten diverse stories, analyzing tile-object matching, affordance-layer alignment, and spatial constraint satisfaction across frames. This prototype offers a scalable approach to narrative-driven scene generation and lays the foundation for future work on multi-frame continuity, symbolic tracking, and multi-agent coordination in story-centered PCG.

Landslides are a growing climate induced hazard with severe environmental and human consequences, particularly in high mountain Asia. Despite increasing access to satellite and temporal datasets, timely detection and disaster response remain underdeveloped and fragmented. This work introduces CC-GRMAS, a framework leveraging a series of satellite observations and environmental signals to enhance the accuracy of landslide forecasting. The system is structured around three interlinked agents Prediction, Planning, and Execution, which collaboratively enable real time situational awareness, response planning, and intervention. By incorporating local environmental factors and operationalizing multi agent coordination, this approach offers a scalable and proactive solution for climate resilient disaster preparedness across vulnerable mountainous terrains.

Multi-agent systems (MAS) offer a scalable path forward for agentic AI, comprising multiple LLM-based agents, each assigned a system prompt and a position within a workflow that governs inter-agent coordination and output aggregation. System prompts thus form a critical and accessible optimization surface: they specify agents' roles and behaviors, enabling system-level improvements without model finetuning. Although prompt optimization has shown substantial potential for single LLMs, extending it to MAS poses distinct challenges, notably an exponentially growing search space. It remains unclear whether, when, and by how much prompt optimization improves MAS performance, and how sensitive such gains are to system configuration. In this work, we systematically study system-prompt optimization across a broad range of MAS setups varying in task, workflow, communication protocol, and team size, benchmarking two prompt optimizers that naturally extend state-of-the-art single-agent methods. The results reveal its potential to unlock significant gains while exposing open challenges, characterizing when and how much prompt optimization helps across diverse MAS settings.

Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We present HEX, a state-centric framework for coordinated manipulation on full-sized bipedal humanoid robots. HEX introduces a humanoid-aligned universal state representation for scalable learning across heterogeneous embodiments, and incorporates a Mixture-of-Experts Unified Proprioceptive Predictor to model whole-body coordination and temporal motion dynamics from large-scale multi-embodiment trajectory data. To efficiently capture temporal visual context, HEX uses lightweight history tokens to summarize past observations, avoiding repeated encoding of historical images during inference. It further employs a residual-gated fusion mechanism with a flow-matching action head to adaptively integrate visual-language cues with proprioceptive dynamics for action generation. Experiments on real-world humanoid manipulation tasks show that HEX achieves state-of-the-art performance in task success rate and generalization, particularly in fast-reaction and long-horizon scenarios.

Traditional protocol fuzzing techniques, such as those employed by AFL-based systems, often lack effectiveness due to a limited semantic understanding of complex protocol grammars and rigid seed mutation strategies. Recent works, such as ChatAFL, have integrated Large Language Models (LLMs) to guide protocol fuzzing and address these limitations, pushing protocol fuzzers to wider exploration of the protocol state space. But ChatAFL still faces issues like unreliable output, LLM hallucinations, and assumptions of LLM knowledge about protocol specifications. This paper introduces MultiFuzz, a novel dense retrieval-based multi-agent system designed to overcome these limitations by integrating semantic-aware context retrieval, specialized agents, and structured tool-assisted reasoning. MultiFuzz utilizes agentic chunks of protocol documentation (RFC Documents) to build embeddings in a vector database for a retrieval-augmented generation (RAG) pipeline, enabling agents to generate more reliable and structured outputs, enhancing the fuzzer in mutating protocol messages with enhanced state coverage and adherence to syntactic constraints. The framework decomposes the fuzzing process into modular groups of agents that collaborate through chain-of-thought reasoning to dynamically adapt fuzzing strategies based on the retrieved contextual knowledge. Experimental evaluations on the Real-Time Streaming Protocol (RTSP) demonstrate that MultiFuzz significantly improves branch coverage and explores deeper protocol states and transitions over state-of-the-art (SOTA) fuzzers such as NSFuzz, AFLNet, and ChatAFL. By combining dense retrieval, agentic coordination, and language model reasoning, MultiFuzz establishes a new paradigm in autonomous protocol fuzzing, offering a scalable and extensible foundation for future research in intelligent agentic-based fuzzing systems.

Large Language Model (LLM) multi-agent systems are increasingly deployed as interacting agent societies, yet scaling these systems often yields diminishing or unstable returns, the causes of which remain poorly understood. We present the first large-scale empirical study of coordination dynamics in LLM-based multi-agent systems, introducing an atomic event-level formulation that reconstructs reasoning as cascades of coordination. Analyzing over 1.5 Million interactions across tasks, topologies, and scales, we uncover three coupled laws: coordination follows heavy-tailed cascades, concentrates via preferential attachment into intellectual elites, and produces increasingly frequent extreme events as system size grows. We show that these effects are coupled through a single structural mechanism: an integration bottleneck, in which coordination expansion scales with system size while consolidation does not, producing large but weakly integrated reasoning processes. To test this mechanism, we introduce Deficit-Triggered Integration (DTI), which selectively increases integration under imbalance. DTI improves performance precisely where coordination fails, without suppressing large-scale reasoning. Together, our results establish quantitative laws of collective cognition and identify coordination structure as a fundamental, previously unmeasured axis for understanding and improving scalable multi-agent intelligence.

We introduce Solar Open, a 102B-parameter bilingual Mixture-of-Experts language model for underserved languages. Solar Open demonstrates a systematic methodology for building competitive LLMs by addressing three interconnected challenges. First, to train effectively despite data scarcity for underserved languages, we synthesize 4.5T tokens of high-quality, domain-specific, and RL-oriented data. Second, we coordinate this data through a progressive curriculum jointly optimizing composition, quality thresholds, and domain coverage across 20 trillion tokens. Third, to enable reasoning capabilities through scalable RL, we apply our proposed framework SnapPO for efficient optimization. Across benchmarks in English and Korean, Solar Open achieves competitive performance, demonstrating the effectiveness of this methodology for underserved language AI development.

Humanoid control requires natural whole-body coordination, precise real-time responses to control signals, and robust generalization across diverse environmental contexts, making it a cornerstone for generalist embodied agents. Behavior Foundation Models (BFMs) have recently emerged as a promising solution to address these challenges by leveraging large-scale behavioral data to achieve superior expressiveness, versatility and generalization. However, despite growing interest in scaling BFMs to further improve their capabilities, it remains unclear how key factors, including the learning paradigm, behavioral data and model architecture should be coordinated to enable effective scaling. In this work, we revisit the scaling recipe for BFMs and demonstrate that substantial performance gains can be achieved through the coordination of three core components: 1) the learning paradigm of motion tracking that reformulates diverse humanoid control problems as the reproduction of integrated whole-body behaviors in the global frame; 2) the strategic synergy between on-policy rollout quantity and reference motion diversity; and 3) the expressive and scalable model architecture termed Humanoid Transformer that facilitates the natural emergence of structured behavioral representations. Through extensive experiments in both simulation and real-world deployment, we demonstrate that our approach yields significant improvements in control fidelity and task generalization, reducing Mean Per-Keypoint Position Error (MPKPE) on the test set by over 10% in local mode and 82% in global mode compared with existing humanoid controllers. These results establish BFM as a principled and effective foundation for scalable and general-purpose humanoid control.

As large language models from diverse providers converge toward comparable benchmark performance, the traditional paradigm of selecting a single best model per task yields diminishing returns. We argue that orchestration topology -- the structural composition of how multiple agents are coordinated, parallelized, and synthesized -- now dominates system-level performance over individual model capability. We present AdaptOrch, a formal framework for task-adaptive multi-agent orchestration that dynamically selects among four canonical topologies (parallel, sequential, hierarchical, and hybrid) based on task dependency graphs and empirically derived domain characteristics. Our framework introduces three key contributions: (1) a Performance Convergence Scaling Law, formalizing conditions under which orchestration selection outweighs model selection; (2) a Topology Routing Algorithm that maps task decomposition DAGs to optimal orchestration patterns in O(|V| + |E|) time; and (3) an Adaptive Synthesis Protocol with provable termination guarantees and heuristic consistency scoring for parallel agent outputs. We validate AdaptOrch across coding (SWE-bench), reasoning (GPQA), and retrieval-augmented generation tasks, demonstrating that topology-aware orchestration achieves 12-23% improvement over static single-topology baselines, even when using identical underlying models. Our results establish orchestration design as a first-class optimization target independent of model scaling.

The rapid development of interactive and autonomous AI systems signals our entry into the agentic era. Training and evaluating agents on complex agentic tasks such as software engineering and computer use requires not only efficient model computation but also sophisticated infrastructure capable of coordinating vast agent-environment interactions. However, no open-source infrastructure can effectively support large-scale training and evaluation on such complex agentic tasks. To address this challenge, we present MegaFlow, a large-scale distributed orchestration system that enables efficient scheduling, resource allocation, and fine-grained task management for agent-environment workloads. MegaFlow abstracts agent training infrastructure into three independent services (Model Service, Agent Service, and Environment Service) that interact through unified interfaces, enabling independent scaling and flexible resource allocation across diverse agent-environment configurations. In our agent training deployments, MegaFlow successfully orchestrates tens of thousands of concurrent agent tasks while maintaining high system stability and achieving efficient resource utilization. By enabling such large-scale agent training, MegaFlow addresses a critical infrastructure gap in the emerging agentic AI landscape.

Synthetic data has become increasingly important for training large language models, especially when real data is scarce, expensive, or privacy-sensitive. Many such generation tasks require coordinated multi-agent workflows, where specialized agents collaborate to produce data that is higher quality, more diverse, and structurally richer. However, existing frameworks for multi-agent synthesis often depend on a centralized orchestrator, creating scalability bottlenecks, or are hardcoded for specific domains, limiting flexibility. We present Matrix, a decentralized framework that represents both control and data flow as serialized messages passed through distributed queues. This peer-to-peer design eliminates the central orchestrator. Each task progresses independently through lightweight agents, while compute-intensive operations, such as LLM inference or containerized environments, are handled by distributed services. Built on Ray, Matrix scales to tens of thousands of concurrent agentic workflows and provides a modular, configurable design that enables easy adaptation to a wide range of data generation workflows. We evaluate Matrix across diverse synthesis scenarios, such as multi-agent collaborative dialogue, web-based reasoning data extraction, and tool-use trajectory generation in customer service environments. In all cases, Matrix achieves 2--15times higher data generation throughput under identical hardware resources, without compromising output quality.

Industrial disruption replanning demands multi-agent coordination under strict latency and communication budgets, where disruptions propagate through tightly coupled physical dependencies and rapidly invalidate baseline schedules and commitments. Existing coordination schemes often treat communication as either effectively free (broadcast-style escalation) or fixed in advance (hand-tuned neighborhoods), both of which are brittle once the disruption footprint extends beyond a local region. We present \CASCADE, a budgeted replanning mechanism that makes communication scope explicit and auditable rather than fixed or implicit. Each agent maintains an explicit knowledge base, solves role-conditioned local decision problems to revise commitments, and coordinates through lightweight contract primitives whose footprint expands only when local validation indicates that the current scope is insufficient. This design separates a unified agent substrate (Knowledge Base / Decision Manager / Communication Manager) from a scoped interaction layer that controls who is contacted, how far coordination propagates, and when escalation is triggered under explicit budgets. We evaluate \CASCADE on disrupted manufacturing and supply-chain settings using unified diagnostics intended to test a mechanism-design claim -- whether explicit scope control yields useful quality-latency-communication trade-offs and improved robustness under uncertainty -- rather than to provide a complete algorithmic ranking.

Computer use agents (CUAs) today are primarily deployed as single serial agents. This setup is suboptimal for complex long-horizon tasks that benefit from task decomposition, parallel execution, and consistent re-planning based on new information. In this paper, we argue that we should instead move towards evaluating and building multi-agent computer use (MACU) systems. These systems, which emphasize planning and parallel execution, alleviate many of the shortcomings of single-agent CUAs. We propose a general multi-agent setup in which a manager model decomposes computer use tasks as a directed acyclic graph (DAG), encoding relevant dependencies and goals for subagents. At each iteration, the manager dispatches parallel CUA subagents to carry out nodes on the ready frontier of the DAG, and continuously revises the DAG (adding, canceling, or rewriting nodes) as new findings arrive from subagents. This design treats the partially observable environment of computer use as a first class challenge: information that downstream agents may not be able to re-observe are retained and passed forward through the manager and DAG structure. We demonstrate that MACU consistently improves over strong single-agent baselines by 3.4-25.5% on desktop (OSWorld) and web navigation (Online-Mind2Web, WebTailBench, Odysseys) benchmarks, exhibits more favorable test-time scaling, and solves complex long-horizon tasks where single-agent CUAs get stuck. On Odysseys, a long-horizon web navigation benchmark, MACU improves average task completion wall-clock time by {sim} 1.5 times, demonstrating its efficacy in speeding up traditionally slow CUA pipelines. Our findings highlight that multi-agent coordination is a promising axis for scaling computer use agents to work productively for longer and more effectively. We release all code and interactive visualizations at https://jykoh.com/multi-agent-computer-use.

General-purpose language models can reason and synthesize knowledge, but complex work also requires sustained interaction with files, information sources, and executable code, together with state maintenance, failure recovery, and verifiable delivery. We call this working capability: sustained, verifiable progress toward a real-world objective. Apodex 1.1 develops this capability along two complementary dimensions. Environment Scaling expands the diversity and verifiability of executable file, search, and code environments, while Agentic Coordination Scaling trains agents to decompose long-horizon tasks, delegate parallel work, integrate asynchronous results, and replan. A shared execution harness and AgentOS maintain task state and provenance across tools and agents, and training turns environment trajectories and coordination traces into reliable behavior. Across complex professional work, finance, scientific research, mathematics, coding, and search, Apodex 1.1 reaches the leading performance band despite using a substantially smaller model than many frontier systems. The 35B-parameter Apodex 1.1 Mini further retains strong working capability in a locally deployable form. These results ground agentic intelligence in useful, verifiable work completed over time and advance our goal of building a Heavy-Duty Solver for ambitious, long-running tasks.

Large Language Models (LLMs) show potential for complex reasoning, yet their capacity for emergent coordination in Multi-Agent Systems (MAS) when operating under strict constraints-such as limited local perception and communication, characteristic of natural swarms-remains largely unexplored, particularly concerning the nuances of swarm intelligence. Existing benchmarks often do not fully capture the unique challenges of decentralized coordination that arise when agents operate with incomplete spatio-temporal information. To bridge this gap, we introduce SwarmBench, a novel benchmark designed to systematically evaluate the swarm intelligence capabilities of LLMs acting as decentralized agents. SwarmBench features five foundational MAS coordination tasks within a configurable 2D grid environment, forcing agents to rely primarily on local sensory input (k x k view) and local communication. We propose metrics for coordination effectiveness and analyze emergent group dynamics. Evaluating several leading LLMs in a zero-shot setting, we find significant performance variations across tasks, highlighting the difficulties posed by local information constraints. While some coordination emerges, results indicate limitations in robust planning and strategy formation under uncertainty in these decentralized scenarios. Assessing LLMs under swarm-like conditions is crucial for realizing their potential in future decentralized systems. We release SwarmBench as an open, extensible toolkit-built upon a customizable and scalable physical system with defined mechanical properties. It provides environments, prompts, evaluation scripts, and the comprehensive experimental datasets generated, aiming to foster reproducible research into LLM-based MAS coordination and the theoretical underpinnings of Embodied MAS. Our code repository is available at https://github.com/x66ccff/swarmbench.

We present Federation of Agents (FoA), a distributed orchestration framework that transforms static multi-agent coordination into dynamic, capability-driven collaboration. FoA introduces Versioned Capability Vectors (VCVs): machine-readable profiles that make agent capabilities searchable through semantic embeddings, enabling agents to advertise their capabilities, cost, and limitations. Our aarchitecturecombines three key innovations: (1) semantic routing that matches tasks to agents over sharded HNSW indices while enforcing operational constraints through cost-biased optimization, (2) dynamic task decomposition where compatible agents collaboratively break down complex tasks into DAGs of subtasks through consensus-based merging, and (3) smart clustering that groups agents working on similar subtasks into collaborative channels for k-round refinement before synthesis. Built on top of MQTT,s publish-subscribe semantics for scalable message passing, FoA achieves sub-linear complexity through hierarchical capability matching and efficient index maintenance. Evaluation on HealthBench shows 13x improvements over single-model baselines, with clustering-enhanced laboration particularly effective for complex reasoning tasks requiring multiple perspectives. The system scales horizontally while maintaining consistent performance, demonstrating that semantic orchestration with structured collaboration can unlock the collective intelligence of heterogeneous federations of AI agents.

Recent advancements in Large Language Models (LLMs) have largely focused on depth scaling, where a single agent solves long-horizon problems with multi-turn reasoning and tool use. However, as tasks grow broader, the key bottleneck shifts from individual competence to organizational capability. In this work, we explore a complementary dimension of width scaling with multi-agent systems to address broad information seeking. Existing multi-agent systems often rely on hand-crafted workflows and turn-taking interactions that fail to parallelize work effectively. To bridge this gap, we propose WideSeek-R1, a lead-agent-subagent framework trained via multi-agent reinforcement learning (MARL) to synergize scalable orchestration and parallel execution. By utilizing a shared LLM with isolated contexts and specialized tools, WideSeek-R1 jointly optimizes the lead agent and parallel subagents on a curated dataset of 20k broad information-seeking tasks. Extensive experiments show that WideSeek-R1-4B achieves an item F1 score of 40.0% on the WideSearch benchmark, which is comparable to the performance of single-agent DeepSeek-R1-671B. Furthermore, WideSeek-R1-4B exhibits consistent performance gains as the number of parallel subagents increases, highlighting the effectiveness of width scaling.

We present DPBench, a benchmark for evaluating coordination in multi-agent systems built from large language models. Existing benchmarks measure task-level success under a fixed protocol; the structural conditions under which coordination succeeds or fails at all have not been characterised. DPBench adapts the Dining Philosophers problem into a controlled testbed where the action protocol, the communication structure, and the group size each vary independently. We evaluate six agents: GPT-5.2, Claude Opus 4.5, Grok 4.1, Gemini 2.5 Flash, Llama 4 Maverick, and a uniform-random baseline. Under simultaneous action at N=5 with the default prompt, deadlock ranges from 25.0% (95% Wilson CI [11.2, 46.9]) for GPT-5.2 to 90.0% [74.4, 96.5] for Gemini 2.5 Flash; sequential action is solved by four of the six. Holding the model fixed at Gemini 2.5 Flash, three protocol variables drive deadlock from 90% to within CI of zero: three rounds of pre-commitment communication (0.0% vs. single-round 86.7%), a prompt encoding a classical concurrency primitive (0.0% for resource-ordering and symmetry-breaking, against 100% for the minimal prompt), or doubling the group from N=5 to N=10 (90.0% to 10.0%). Single-round messaging and memory of past timesteps do not change the rate at the sample size we ran. Whether the same model coordinates or deadlocks is determined by the protocol, not by the model's capability.

Powerful large language models (LLMs) from different providers have been expensively trained and finetuned to specialize across varying domains. In this work, we introduce a new kind of Conductor model trained with reinforcement learning to automatically discover powerful coordination strategies among LLMs. Our Conductor learns not only to design targeted communication topologies for effective agent-to-agent collaboration, but also to prompt engineer focused instructions to the LLMs to maximally leverage their individual capabilities. We show that, by learning optimal coordination strategies over pools of powerful worker LLMs, a 7B Conductor achieves significant performance gains beyond any individual worker, attaining state-of-the-art results in challenging reasoning benchmarks, such as LiveCodeBench and GPQA. By training with randomized agent pools, our conductor effectively adapts to arbitrary sets of open- and closed-source agents, meeting any user requirements. Furthermore, allowing the Conductor to select itself as a worker gives rise to recursive topologies, elevating performance with a new form of dynamic test-time scaling through online iterative adaptation. More broadly, ours is among the early work demonstrating language model coordination can be unlocked through RL, where powerful coordination strategies emerge naturally in LLMs through pure end-to-end reward maximization.

Communication enables coordination in multi-agent reinforcement learning (MARL), but many real-world applications, e.g., search-and-rescue with drone swarms, operate under severe bandwidth constraints. Many communication architectures still expose a coupled bottleneck in which a shared latent representation is used for both policy execution and inter-agent communication. Consequently, reducing message size directly limits the policy's latent space, often leading to significant performance degradation. We address this with two contributions. First, we introduce β, a normalised per-agent bandwidth budget that unifies sparsity, rounds, and message dimension into a single comparable constraint. Second, we provide SLIM, a minimal architecture that decouples the communication pathway from the policy's latent representation, allowing us to isolate the effect of bandwidth from the effect of policy capacity while benefiting from in-step communication. We evaluate our method on several partially-observable MARL benchmarks, where communication is essential. Our approach achieves state-of-the-art performance and exhibits scalability and robustness under limited communication, with only marginal degradation as bandwidth is reduced.

We study how teams of AI coding agents coordinate while solving programming tasks. Current evaluations usually report whether the agents complete the task and how much the run costs, leaving the coordination inside the team largely unmeasured. We introduce an instrument to measure this coordination. Each run is represented as a temporal network in which agents and files are nodes, and messages, file writes, and file reads are timestamped directed edges with an associated cost. We apply this instrument to 1902 runs, each evaluated with a fixed test suite, across configurations that vary the team size, the team structure, and the file policy. The resulting networks show how coordination changes as teams grow and as the work changes. Direct messaging initially increases close to quadratically with the number of agents, with much of this growth coming from an early round of introductions. As the teams grow further, this increase levels off in the largest teams we study, where agents increasingly communicate through broadcast messages. The task also shapes the network that emerges. Work built around a shared specification produces dense, highly connected teams, while pipeline tasks produce sparse networks organised around local interfaces. Shared files can replace repeated 1-to-1 communication, cutting output tokens by about 42% at eight agents on message-heavy work, while adding overhead when files already carry the coordination. Naming one agent as coordinator creates no communication hub and provides no reliable improvement in success. We also observe an unprompted tendency for agents to seek out hidden grading material. We repeat the key experimental conditions in a sealed environment, replacing the hidden material with marked placeholder files. Across 244 additional runs, agents still reach for it in four fifths of runs, while the coordinator and file-channel findings reproduce.

Multi-agent systems built on large language models (LLMs) require many coordination choices that are difficult to fix a priori: which skill protocol to invoke, which agent role should perform a subtask, which model to bind to each role, how roles should interact, when to use retrieval or verification, and when to omit a step entirely. These choices interact with task regime and operational constraints, so static pipelines and one-off model comparisons provide only a limited view of the design space. This paper introduces AgensFlow, an open-source framework that treats multi-agent coordination as an online policy-learning problem under partial observability. The framework makes coordination decisions observable and learnable from repeated trajectories, rather than treating skill, role, model, topology, and evaluation choices as fixed pipeline design. AgensFlow is evaluated on two corpora: distributed-systems incident tasks and security-advisory tasks. The evaluation shows three main results: learned routing reaches a higher-quality operating point than a fixed pipeline baseline on coordination-heavy classes; skip:X isolates topology compression as a meaningful part of the substrate; and warm-started policy graphs can reduce exploration cost while preserving plateau quality. Overall, the results support that learned, auditable routing can improve coordination-heavy multi-agent workflows over static wiring.

As language models are increasingly deployed as autonomous agents, they must coordinate with others over long horizons in open-ended interactive tasks. Yet existing evaluations rarely test these demands together, instead emphasising single-agent tasks, short interactions, or highly structured multi-agent settings. We introduce alem, a JAX-based benchmark for open-ended multi-agent coordination built on Craftax-like dynamics. Alem embeds procedurally generated coordination tasks, soft specialisation, communication, and controllable coordination difficulty into a long-horizon survival world with exploration, crafting, trading, and combat. We evaluate 13 modern LLMs zero-shot within homogeneous teams, with trained MARL agents as reference points. Current LLM agents remain far from solving alem, averaging only ~6% normalised return, but their failures are not uniform. On the hardest coordination setting, zero-shot Gemini-3.1-Pro-High approaches MARL agents trained for one billion steps, while GPT-5.4-High achieves strong base-task reward but much lower coordination reward. This contrast shows that individual task competence does not imply coordination competence. Ablations show that communication is the largest contributor to coordination, while memory and reasoning help when used to maintain multi-step plans. Overall, our results identify coordination as a distinct bottleneck for frontier LLM agents, separate from single-agent capabilities. Alem makes this bottleneck measurable and provides a controlled testbed for developing agents that communicate, allocate roles, and execute shared plans. Code is available at https://github.com/alem-world/alem-env.

Fleets of robo-taxis offering on-demand transportation services, commonly known as Autonomous Mobility-on-Demand (AMoD) systems, hold significant promise for societal benefits, such as reducing pollution, energy consumption, and urban congestion. However, orchestrating these systems at scale remains a critical challenge, with existing coordination algorithms often failing to exploit the systems' full potential. This work introduces a novel decision-making framework that unites mathematical modeling with data-driven techniques. In particular, we present the AMoD coordination problem through the lens of reinforcement learning and propose a graph network-based framework that exploits the main strengths of graph representation learning, reinforcement learning, and classical operations research tools. Extensive evaluations across diverse simulation fidelities and scenarios demonstrate the flexibility of our approach, achieving superior system performance, computational efficiency, and generalizability compared to prior methods. Finally, motivated by the need to democratize research efforts in this area, we release publicly available benchmarks, datasets, and simulators for network-level coordination alongside an open-source codebase designed to provide accessible simulation platforms and establish a standardized validation process for comparing methodologies. Code available at: https://github.com/StanfordASL/RL4AMOD

Multi-agent coordination is crucial for reliable multi-robot navigation in shared spaces such as automated warehouses. In regions of dense robot traffic, local coordination methods may fail to find a deadlock-free solution. In these scenarios, it is appropriate to let a central unit generate a global schedule that decides the passing order of robots. However, the runtime of such centralized coordination methods increases significantly with the problem scale. In this paper, we propose to leverage Graph Neural Network Variational Autoencoders (GNN-VAE) to solve the multi-agent coordination problem at scale faster than through centralized optimization. We formulate the coordination problem as a graph problem and collect ground truth data using a Mixed-Integer Linear Program (MILP) solver. During training, our learning framework encodes good quality solutions of the graph problem into a latent space. At inference time, solution samples are decoded from the sampled latent variables, and the lowest-cost sample is selected for coordination. Finally, the feasible proposal with the highest performance index is selected for the deployment. By construction, our GNN-VAE framework returns solutions that always respect the constraints of the considered coordination problem. Numerical results show that our approach trained on small-scale problems can achieve high-quality solutions even for large-scale problems with 250 robots, being much faster than other baselines. Project page: https://mengyuest.github.io/gnn-vae-coord

Coordinating large populations of interacting agents is a central challenge in multi-agent reinforcement learning (MARL), where the size of the joint state-action space scales exponentially with the number of agents. Mean-field methods alleviate this burden by aggregating agent interactions, but these approaches assume homogeneous interactions. Recent graphon-based frameworks capture heterogeneity, but are computationally expensive as the number of agents grows. Therefore, we introduce GMFS, a Graphon Mean-Field Subsampling framework for scalable cooperative MARL with heterogeneous agent interactions. By subsampling κ agents according to interaction strength, we approximate the graphon-weighted mean-field and learn a policy with sample complexity poly(κ) and optimality gap O(1/sqrtκ). We verify our theory with numerical simulations in robotic coordination, showing that GMFS achieves near-optimal performance.

Key graph-based problems play a central role in understanding network topology and uncovering patterns of similarity in homogeneous and temporal data. Such patterns can be revealed by analyzing communities formed by nodes, which in turn can be effectively modeled through temporal k-cores. This paper introduces a novel decentralized and incremental algorithm for computing the core decomposition of temporal networks. Decentralized solutions leverage the ability of network nodes to communicate and coordinate locally, addressing complex problems in a scalable, adaptive, and timely manner. By leveraging previously computed coreness values, our approach significantly reduces the activation of nodes and the volume of message exchanges when the network changes over time. This enables scalability with only a minimal trade-off in precision. Experimental evaluations on large real-world networks under varying levels of dynamism demonstrate the efficiency of our solution compared to a state-of-the-art approach, particularly in terms of active nodes, communication overhead, and convergence speed.

Networks in the current 5G and beyond systems increasingly carry heterogeneous traffic with diverse quality-of-service constraints, making real-time routing decisions both complex and time-critical. A common approach, such as a heuristic with human intervention or training a single centralized RL policy or synchronizing updates across multiple learners, struggles with scalability and straggler effects. We address this by proposing an asynchronous multi-agent reinforcement learning (AMARL) framework in which independent PPO agents, one per service, plan routes in parallel and commit resource deltas to a shared global resource environment. This coordination by state preserves feasibility across services and enables specialization for service-specific objectives. We evaluate the method on an O-RAN like network simulation using nearly real-time traffic data from the city of Montreal. We compared against a single-agent PPO baseline. AMARL achieves a similar Grade of Service (acceptance rate) (GoS) and end-to-end latency, with reduced training wall-clock time and improved robustness to demand shifts. These results suggest that asynchronous, service-specialized agents provide a scalable and practical approach to distributed routing, with applicability extending beyond the O-RAN domain.

The Contract Net Protocol (1980) introduced coordination through contracts in multi-agent systems. Modern agent protocols standardize connectivity and interoperability; yet, none provide formal, resource governance-normative mechanisms to bound how much agents may consume or how long they may operate. We introduce Agent Contracts, a formal framework that extends the contract metaphor from task allocation to resource-bounded execution. An Agent Contract unifies input/output specifications, multi-dimensional resource constraints, temporal boundaries, and success criteria into a coherent governance mechanism with explicit lifecycle semantics. For multi-agent coordination, we establish conservation laws ensuring delegated budgets respect parent constraints, enabling hierarchical coordination through contract delegation. Empirical validation across four experiments demonstrates 90% token reduction with 525x lower variance in iterative workflows, zero conservation violations in multi-agent delegation, and measurable quality-resource tradeoffs through contract modes. Agent Contracts provide formal foundations for predictable, auditable, and resource-bounded autonomous AI deployment.

The recent success of agent swarms has shifted the paradigm of large language model (LLM)-based agents from single-agent workflows to multi-agent systems, highlighting the importance of agent orchestration for task decomposition and collaboration. However, existing orchestration frameworks are limited to a narrow set of modalities and struggle to generalize to more complex settings where heterogeneous modalities coexist and interact. This limitation becomes particularly pronounced in omnimodal scenarios, where tasks require the unified understanding and coordination of diverse inputs such as text, image, audio, and video. In this work, we propose Orchestra-o1, an omnimodal agent orchestration framework designed to support efficient agent collaboration across multiple modalities. Orchestra-o1 introduces a unified orchestration mechanism that enables modality-aware task decomposition, online sub-agent specialization, and parallel sub-task execution. This scalable design allows agent systems to effectively tackle complex real-world tasks involving heterogeneous information sources, surpassing the second-best approach by 10.3% accuracy on the OmniGAIA benchmark. Furthermore, we introduce decision-aligned group relative policy optimization (DA-GRPO), an efficient agentic reinforcement learning approach for training Orchestra-o1-8B, which also achieves state-of-the-art performance against all existing open-source omnimodal agents.

Scaling laws for inference compute in multi-agent systems remain under-explored compared to single-agent scenarios. This work aims to bridge this gap by investigating the problem of data synthesis through multi-agent sampling, where synthetic responses are generated by sampling from multiple distinct language models. Effective model coordination is crucial for successful multi-agent collaboration. Unlike previous approaches that rely on fixed workflows, we treat model coordination as a multi-step decision-making process, optimizing generation structures dynamically for each input question. We introduce Tree Search-based Orchestrated Agents~(TOA), where the workflow evolves iteratively during the sequential sampling process. To achieve this, we leverage Monte Carlo Tree Search (MCTS), integrating a reward model to provide real-time feedback and accelerate exploration. Our experiments on alignment, machine translation, and mathematical reasoning demonstrate that multi-agent sampling significantly outperforms single-agent sampling as inference compute scales. TOA is the most compute-efficient approach, achieving SOTA performance on WMT and a 71.8\% LC win rate on AlpacaEval. Moreover, fine-tuning with our synthesized alignment data surpasses strong preference learning methods on challenging benchmarks such as Arena-Hard and AlpacaEval.

Learning sparse coordination graphs adaptive to the coordination dynamics among agents is a long-standing problem in cooperative multi-agent learning. This paper studies this problem and proposes a novel method using the variance of payoff functions to construct context-aware sparse coordination topologies. We theoretically consolidate our method by proving that the smaller the variance of payoff functions is, the less likely action selection will change after removing the corresponding edge. Moreover, we propose to learn action representations to effectively reduce the influence of payoff functions' estimation errors on graph construction. To empirically evaluate our method, we present the Multi-Agent COordination (MACO) benchmark by collecting classic coordination problems in the literature, increasing their difficulty, and classifying them into different types. We carry out a case study and experiments on the MACO and StarCraft II micromanagement benchmark to demonstrate the dynamics of sparse graph learning, the influence of graph sparseness, and the learning performance of our method. (The MACO benchmark and codes are publicly available at https://github.com/TonghanWang/CASEC-MACO-benchmark.)

Multi-agent LLM applications organize execution in synchronized rounds where a central scheduler gathers outputs from all agents and redistributes the combined context. This All-Gather communication pattern creates massive KV Cache redundancy, because every agent's prompt contains the same shared output blocks, yet existing reuse methods fail to exploit it efficiently. We present TokenDance, a system that scales the number of concurrent agents by exploiting the All-Gather pattern for collective KV Cache sharing. TokenDance's KV Collector performs KV Cache reuse over the full round in one collective step, so the cost of reusing a shared block is paid once regardless of agent count. Its Diff-Aware Storage encodes sibling caches as block-sparse diffs against a single master copy, achieving 11-17x compression on representative workloads. Evaluation on GenerativeAgents and AgentSociety shows that TokenDance supports up to 2.7x more concurrent agents than vLLM with prefix caching under SLO requirement, reduces per-agent KV Cache storage by up to 17.5x, and achieves up to 1.9x prefill speedup over per-request position-independent caching.

Autoregressive decoding in Large Language Models (LLMs) is inherently sequential, creating a latency bottleneck that scales linearly with output length. While ``Decomposition-and-Fill'' methods like Skeleton-of-Thought attempt to parallelize generation via external orchestration, they suffer from coherence drift due to the lack of cross-stream communication. In this work, we introduce the Parallel Decoder Transformer (PDT), a parameter-efficient architecture that embeds coordination primitives directly into the inference process of a frozen pre-trained model. Instead of retraining the base model, PDT injects lightweight Speculative Note Conditioning (SNC) adapters that allow parallel decoding streams to synchronize via a shared, dynamic latent space. We formulate coordination as a speculative consensus problem, where sibling streams broadcast semantic ``notes'' to a global bus, gated by a learned verification head. We validate our approach on a 50,000-step curriculum using a frozen 20B-parameter backbone. Our results demonstrate that PDT achieves effective self-correction, reaching 77.8\% precision in coverage prediction and recovering approximate serial semantics without modifying the trunk weights. This establishes PDT as a scalable, efficient alternative to full model fine-tuning for structured parallel generation.

The rapid expansion of capabilities in Large Language Model (LLM) agents has exposed a critical architectural bottleneck: when agents are given access to a flat, monolithic registry of tools, the model must evaluate hundreds or thousands of options simultaneously. This leads to decision-space explosion, context window saturation, and degraded routing accuracy. To address these limitations, this paper presents a hierarchical, skill-based architecture for agentic orchestration. Capabilities are organized as a rooted tree where internal nodes make routing decisions and leaf nodes execute deterministic tasks. The runtime enforces a single-step execution loop governed by a Last-In-First-Out (LIFO) stack, giving the agent a form of memory akin to a Pushdown Automaton, therefore enabling it to track nested execution contexts and resume deterministically from any depth. Capability discovery follows a manifest-driven, lazy-loading protocol: only the immediate children of the active node are loaded, so memory and prompt costs scale with the explored path rather than the global registry. By replacing global memory with localized stack frames, the architecture prevents outputs from one execution branch from leaking into another, establishing the isolation guarantees required for deployment in regulated enterprise environments. We also discuss UPI Help, an AI-powered digital payments support product, as a motivating production deployment context. We provide a mathematical formalization of the orchestration state, detailed algorithmic analysis of the execution loop, and controlled benchmarks comparing flat and hierarchical routing under increasing tool catalogs, multi-step workflow pressure, and visible schema-token exposure per LLM call.

Multi-agent systems (MAS) demonstrate clear advantages in tackling complex problems by coordinating diverse agents and external tools. However, most existing orchestration methods rely on static workflows or serial agent scheduling, and are further constrained by heterogeneous interface protocols between tools and agents. This leads to high system complexity and poor extensibility. To mitigate these issues, we propose Agent-as-Tool, a unified parallel orchestration paradigm that abstracts both agents and tools into a standardized, learnable action space with protocol normalization and explicit state feedback. Building on this paradigm, we train a lightweight orchestrator, ParaManager, which decouples planning decisions from subtask solving, enabling state-aware parallel subtask decomposition, delegation, and asynchronous execution. For training, we adopt a two-stage ParaManager training pipeline. It improves robustness by incorporating supervised fine-tuning (SFT) trajectories equipped with recovery mechanisms, and further applies reinforcement learning (RL) to achieve an optimal balance among task success, protocol compliance, diversity, and reasoning efficiency. Experiments show that ParaManager achieves strong performance across multiple benchmarks and exhibits robust generalization under unseen model pools.

Large Language Models (LLMs) have shown remarkable capabilities as autonomous agents, yet existing benchmarks either focus on single-agent tasks or are confined to narrow domains, failing to capture the dynamics of multi-agent coordination and competition. In this paper, we introduce MultiAgentBench, a comprehensive benchmark designed to evaluate LLM-based multi-agent systems across diverse, interactive scenarios. Our framework measures not only task completion but also the quality of collaboration and competition using novel, milestone-based key performance indicators. Moreover, we evaluate various coordination protocols (including star, chain, tree, and graph topologies) and innovative strategies such as group discussion and cognitive planning. Notably, gpt-4o-mini reaches the average highest task score, graph structure performs the best among coordination protocols in the research scenario, and cognitive planning improves milestone achievement rates by 3%. Code and datasets are public available at https://github.com/MultiagentBench/MARBLE.

With the development of LLMs as agents, there is a growing interest in connecting multiple agents into multi-agent systems to solve tasks concurrently, focusing on their role in task assignment and coordination. This paper explores how LLMs can effectively allocate computational tasks among multiple agents, considering factors such as cost, efficiency, and performance. In this work, we address key questions, including the effectiveness of LLMs as orchestrators and planners, comparing their effectiveness in task assignment and coordination. Our experiments demonstrate that LLMs can achieve high validity and accuracy in resource allocation tasks. We find that the planner method outperforms the orchestrator method in handling concurrent actions, resulting in improved efficiency and better utilization of agents. Additionally, we show that providing explicit information about worker capabilities enhances the allocation strategies of planners, particularly when dealing with suboptimal workers.

Multi-agent LLM systems commonly use an orchestrator to decompose a task for a team of workers and then improve through textual reflection. Despite strong empirical results, these systems lack a unified account of coordination, memory improvement, and the role of external verification. We model orchestrator-worker interaction as a bilevel coordination game: under bounded coupling, the workers' local-update game is an approximate potential game whose equilibrium slack is controlled by decomposition quality. We then analyse reflection as stochastic movement over semantic memory states. For free-form reflection, we derive a finite-time upper bound, prove worst-case tightness, and give a positive lower bound under a falsifiable persistent-harm condition. We further prove an information-theoretic impossibility result: no gate that observes only the generated transcript can improve uniformly over text-indistinguishable environments, whereas an environment-grounded gate can. Motivated by this separation, we introduce Stochastic Reflective Memory Ascent (SRMA), which accepts a candidate memory only after a grounded evaluation risk strictly decreases. Under calibration and non-degenerate corrective mass, SRMA converges exactly, geometrically or polynomially; matching constructions show that both rate regimes are order-tight. We also provide confidence gating for stochastic evaluation and re-anchoring guarantees for piecewise-stationary environments. Experiments instantiate these objects with environment-grounded metrics and test the predicted coordination and drift laws. On 500 SWE-bench instances, the complete Kimi-based system resolves 72.2% versus a 70.8% public mini-SWE-agent reference. Code: https://github.com/YihangChen9/Bilevel-Coordinated-Reflection

Most existing Large Language Model (LLM)-based agent frameworks rely on centralized orchestration, incurring high deployment costs, rigid communication topologies, and limited adaptability. To address these challenges, we introduce Symphony, a decentralized multi-agent system which enables lightweight LLMs on consumer-grade GPUs to coordinate. Symphony introduces three key mechanisms: (1) a decentralized ledger that records capabilities, (2) a Beacon-selection protocol for dynamic task allocation, and (3) weighted result voting based on CoTs. This design forms a privacy-saving, scalable, and fault-tolerant orchestration with low overhead. Empirically, Symphony outperforms existing baselines on reasoning benchmarks, achieving substantial accuracy gains and demonstrating robustness across models of varying capacities.

Resolving team conflicts requires not only task-specific competence, but also social intelligence to find common ground and build consensus. As AI agents increasingly collaborate on complex work, they must develop coordination capabilities to function as effective teammates. Yet we hypothesize that current agents lack these capabilities. To test this, we introduce CooperBench, a benchmark of over 600 collaborative coding tasks across 12 libraries in 4 programming languages. Each task assigns two agents different features that can be implemented independently but may conflict without proper coordination. Tasks are grounded in real open-source repositories with expert-written tests. Evaluating state-of-the-art coding agents, we observe the curse of coordination: agents achieve on average 30% lower success rates when working together compared to performing both tasks individually. This contrasts sharply with human teams, where adding teammates typically improves productivity. Our analysis reveals three key issues: (1) communication channels become jammed with vague, ill-timed, and inaccurate messages; (2) even with effective communication, agents deviate from their commitments; and (3) agents often hold incorrect expectations about others' plans and communication. Through large-scale simulation, we also observe rare but interesting emergent coordination behavior including role division, resource division, and negotiation. Our research presents a novel benchmark for collaborative coding and calls for a shift from pursuing individual agent capability to developing social intelligence.

Multi-agent LLM frameworks are widely used to accelerate the development of agent systems powered by large language models (LLMs). These frameworks impose distinct architectural structures that govern how agents interact, store information, and coordinate tasks. However, their impact on system performance remains poorly understood. This gap is critical, as architectural choices alone can induce order-of-magnitude differences in latency and throughput, as well as substantial variation in accuracy and scalability. Addressing this challenge requires (i) jointly evaluating multiple capabilities, such as orchestration overhead, memory behavior, planning, specialization, and coordination, and (ii) conducting these evaluations under controlled, framework-level conditions to isolate architectural effects. Existing benchmarks focus on individual capabilities and lack standardized framework-level evaluation. We address these limitations by (i) introducing an architectural taxonomy for systematically comparing multi-agent LLM frameworks along fundamental dimensions, and (ii) developing MAFBench, a unified evaluation suite that integrates existing benchmarks under a standardized execution pipeline. Using MAFBench, we conduct a controlled empirical study across several widely used frameworks. Our results show that framework-level design choices alone can increase latency by over 100x, reduce planning accuracy by up to 30%, and lower coordination success from above 90% to below 30%. Finally, we translate our findings into concrete architectural design principles and framework selection guidance, and outline promising future research directions.

This paper studies the next major bottleneck in agentic AI as system scaling, not only model scaling: the design of auditable, persistent, modular, and verifiable architectures around foundation models. We refer to this shift as scaling the harness: treating the structured execution layer around a foundation model as a first-class object of design, evaluation, and optimization. Although recent large language models enable agents to use tools, retrieve information, maintain memory, and execute long-horizon workflows, evaluation remains largely model-centric, often reducing agents to final-task success while treating memory, retrieval, tool use, orchestration, verification, and governance as secondary implementation details. This framing is increasingly inadequate because agent performance emerges from the interaction among the foundation model, memory substrate, context constructor, skill-routing layer, orchestration loop, and verification-and-governance layer. Together, these components form the agent harness, which translates model capability into long-horizon agent behavior. We study scaling the harness through three core bottlenecks: context governance, trustworthy memory, and dynamic skill routing, together with the orchestration and governance mechanisms that coordinate and constrain them. We further outline a research agenda for harness-level benchmarks that go beyond one-shot task success to measure trajectory quality, memory hygiene, context efficiency, communication fidelity, verification cost, and safe evolution over time. To make the discussion concrete, we develop CheetahClaws: https://github.com/SafeRL-Lab/cheetahclaws, a Python-native reference harness, and compare it with Claude Code and OpenClaw. Our main claim is that future progress in agentic AI will depend as much on system design as on stronger foundation models.

In numerous artificial intelligence applications, the collaborative efforts of multiple intelligent agents are imperative for the successful attainment of target objectives. To enhance coordination among these agents, a distributed communication framework is often employed. However, indiscriminate information sharing among all agents can be resource-intensive, and the adoption of manually pre-defined communication architectures imposes constraints on inter-agent communication, thus limiting the potential for effective collaboration. Moreover, the communication framework often remains static during inference, which may result in sustained high resource consumption, as in most cases, only key decisions necessitate information sharing among agents. In this study, we introduce a novel approach wherein we conceptualize the communication architecture among agents as a learnable graph. We formulate this problem as the task of determining the communication graph while enabling the architecture parameters to update normally, thus necessitating a bi-level optimization process. Utilizing continuous relaxation of the graph representation and incorporating attention units, our proposed approach, CommFormer, efficiently optimizes the communication graph and concurrently refines architectural parameters through gradient descent in an end-to-end manner. Additionally, we introduce a temporal gating mechanism for each agent, enabling dynamic decisions on whether to receive shared information at a given time, based on current observations, thus improving decision-making efficiency. Extensive experiments on a variety of cooperative tasks substantiate the robustness of our model across diverse cooperative scenarios, where agents are able to develop more coordinated and sophisticated strategies regardless of changes in the number of agents.

We propose a decentralized, learning-based framework for dynamic coalition formation in Multi-Robot Task Allocation (MRTA). Our approach extends Multi-Agent Proximal Policy Optimization (MAPPO) by integrating spatial action maps, robot motion planning, intention sharing, and task allocation revision to enable effective and adaptive coalition formation. Extensive simulation studies confirm the effectiveness of our model, enabling each robot to rely solely on local information to learn timely revisions of task selections and form coalitions with other robots to complete collaborative tasks. Additionally, our model significantly outperforms existing methods, including a market-based baseline. Furthermore, we evaluate the scalability and generalizability of the proposed framework, highlighting its ability to handle large robot populations and adapt to scenarios featuring diverse task sets.

The emergence of AI agents powered by large language models (LLMs) marks a pivotal shift toward the Agentic Web, a new phase of the internet defined by autonomous, goal-driven interactions. In this paradigm, agents interact directly with one another to plan, coordinate, and execute complex tasks on behalf of users. This transition from human-driven to machine-to-machine interaction allows intent to be delegated, relieving users from routine digital operations and enabling a more interactive, automated web experience. In this paper, we present a structured framework for understanding and building the Agentic Web. We trace its evolution from the PC and Mobile Web eras and identify the core technological foundations that support this shift. Central to our framework is a conceptual model consisting of three key dimensions: intelligence, interaction, and economics. These dimensions collectively enable the capabilities of AI agents, such as retrieval, recommendation, planning, and collaboration. We analyze the architectural and infrastructural challenges involved in creating scalable agentic systems, including communication protocols, orchestration strategies, and emerging paradigms such as the Agent Attention Economy. We conclude by discussing the potential applications, societal risks, and governance issues posed by agentic systems, and outline research directions for developing open, secure, and intelligent ecosystems shaped by both human intent and autonomous agent behavior. A continuously updated collection of relevant studies for agentic web is available at: https://github.com/SafeRL-Lab/agentic-web.

Multi-agent systems powered by large language models exhibit strong capabilities in collaborative problem-solving. However, these systems suffer from substantial knowledge redundancy. Agents duplicate efforts in retrieval and reasoning processes. This inefficiency stems from a deeper issue: current architectures lack mechanisms to ensure agents share minimal sufficient information at each operational stage. Empirical analysis reveals an average knowledge duplication rate of 47.3\% across agent communications. We propose D3MAS (Decompose, Deduce, and Distribute), a hierarchical coordination framework addressing redundancy through structural design rather than explicit optimization. The framework organizes collaboration across three coordinated layers. Task decomposition filters irrelevant sub-problems early. Collaborative reasoning captures complementary inference paths across agents. Distributed memory provides access to non-redundant knowledge. These layers coordinate through structured message passing in a unified heterogeneous graph. This cross-layer alignment ensures information remains aligned with actual task needs. Experiments on four challenging datasets show that D3MAS consistently improves reasoning accuracy by 8.7\% to 15.6\% and reduces knowledge redundancy by 46\% on average.

The rapid advancement of Large Language Models (LLMs) has opened new opportunities in data science, yet their practical deployment is often constrained by the challenge of discovering relevant data within large heterogeneous data lakes. Existing methods struggle with this: single-agent systems are quickly overwhelmed by large, heterogeneous files in the large data lakes, while multi-agent systems designed based on a master-slave paradigm depend on a rigid central controller for task allocation that requires precise knowledge of each sub-agent's capabilities. To address these limitations, we propose a novel multi-agent communication paradigm inspired by the blackboard architecture for traditional AI models. In this framework, a central agent posts requests to a shared blackboard, and autonomous subordinate agents -- either responsible for a partition of the data lake or general information retrieval -- volunteer to respond based on their capabilities. This design improves scalability and flexibility by eliminating the need for a central coordinator to have prior knowledge of all sub-agents' expertise. We evaluate our method on three benchmarks that require explicit data discovery: KramaBench and modified versions of DS-Bench and DA-Code to incorporate data discovery. Experimental results demonstrate that the blackboard architecture substantially outperforms baselines, including RAG and the master-slave multi-agent paradigm, achieving between 13% to 57% relative improvement in end-to-end task success and up to a 9% relative gain in F1 score for data discovery over the best-performing baselines across both proprietary and open-source LLMs. Our findings establish the blackboard paradigm as a scalable and generalizable communication framework for multi-agent systems.

Large language models (LLMs) enable autonomous agents for reasoning, planning, and tool use. Recent systems increasingly organize these agents as graphs of specialized, interconnected nodes. Although graph-based orchestration supports flexible decomposition and coordination, it creates a key challenge: attention allocation. As workflows grow, existing approaches often execute graph components uniformly, wasting resources on irrelevant or low-impact tasks. We introduce Attention Orchestration, a paradigm that extends Transformer-style attention from token representations to workflow-level agent coordination. Our framework, Adaptive Goal-aware Attention Orchestration (AGAO), dynamically estimates agent importance based on user objectives, graph dependencies, and computational constraints. AGAO combines three components: (1) goal-aware attention, measuring semantic relevance between user goals and agent capabilities; (2) topology-aware attention, modeling structural dependencies in agent graphs; and (3) resource-aware attention, allocating budgets and execution priorities across heterogeneous agents. Together, these mechanisms transform static agent graphs into adaptive systems that focus computation on goal-critical reasoning paths. Experiments across diverse multi-agent workloads show that AGAO improves task effectiveness while reducing unnecessary computation, latency, and token consumption compared with existing graph-based execution strategies. Our work establishes Attention Engineering as a direction for scalable, intelligent multi-agent systems. Code: https://github.com/MingzhouFan97/AGAO.

Leveraging large language models (LLMs), autonomous agents have significantly improved, gaining the ability to handle a variety of tasks. In open-ended settings, optimizing collaboration for efficiency and effectiveness demands flexible adjustments. Despite this, current research mainly emphasizes fixed, task-oriented workflows and overlooks agent-centric organizational structures. Drawing inspiration from human organizational behavior, we introduce a self-organizing agent system (S-Agents) with a "tree of agents" structure for dynamic workflow, an "hourglass agent architecture" for balancing information priorities, and a "non-obstructive collaboration" method to allow asynchronous task execution among agents. This structure can autonomously coordinate a group of agents, efficiently addressing the challenges of an open and dynamic environment without human intervention. Our experiments demonstrate that S-Agents proficiently execute collaborative building tasks and resource collection in the Minecraft environment, validating their effectiveness.

Recent agentic search systems have made substantial progress by emphasising deep, multi-step reasoning. However, this focus often overlooks the challenges of wide-scale information synthesis, where agents must aggregate large volumes of heterogeneous evidence across many sources. As a result, most existing large language model agent systems face severe limitations in data-intensive settings, including context saturation, cascading error propagation, and high end-to-end latency. To address these challenges, we present \framework, a hierarchical framework based on principle of near-decomposability, containing a strategic Host, multiple Managers and parallel Workers. By leveraging aggregation and reflection mechanisms at the Manager layer, our framework enforces strict context isolation to prevent saturation and error propagation. Simultaneously, the parallelism in worker layer accelerates the speed of overall task execution, mitigating the significant latency. Our evaluation on two complementary benchmarks demonstrates both efficiency ( 3-5 times speed-up) and effectiveness, achieving a 8.4% success rate on WideSearch-en and 52.9% accuracy on BrowseComp-zh. The code is released at https://github.com/agent-on-the-fly/InfoSeeker

Multi-agent systems (MAS) enable complex reasoning by coordinating multiple agents, but often incur high inference latency due to multi-step execution and repeated model invocations, severely limiting their scalability and usability in time-sensitive scenarios. Most existing approaches primarily optimize task performance and inference cost, and explicitly or implicitly assume sequential execution, making them less optimal for controlling latency under parallel execution. In this work, we investigate learning-based orchestration of multi-agent systems with explicit latency supervision under parallel execution. We propose Latency-Aware Multi-agent System (LAMaS), a latency-aware multi-agent orchestration framework that enables parallel execution and explicitly optimizes the critical execution path, allowing the controller to construct execution topology graphs with lower latency under parallel execution. Our experiments show that our approach reduces critical path length by 38-46% compared to the state-of-the-art baseline for multi-agent architecture search across multiple benchmarks, while maintaining or even improving task performance. These results highlight the importance of explicitly optimizing latency under parallel execution when designing efficient multi-agent systems. The code is available at https://github.com/xishi404/LAMaS

AI agents have become increasingly capable at isolated software engineering (SWE) tasks such as resolving issues on Github. Yet long-horizon tasks involving multiple interdependent subtasks still pose challenges both with respect to accuracy, and with respect to timely completion. A natural approach to solving these long-horizon tasks in a timely manner is asynchronous multi-agent collaboration, where multiple agents work on different parts of the task at the same time. But effective application of multi-agent systems has proven surprisingly difficult: concurrent edits by multiple agents interfere with each other, dependencies are difficult to synchronize, and combining partial progress into a coherent whole is challenging. On the other hand, human developers have long relied on mature collaboration infrastructure to manage these challenges in large software projects. Inspired by these collaboration primitives, we introduce Centralized Asynchronous Isolated Delegation (CAID), a structured multi-agent coordination paradigm grounded in three core SWE primitives: centralized task delegation, asynchronous execution, and isolated workspaces. CAID constructs dependency-aware task plans through a central manager, executes subtasks concurrently in isolated workspaces, and consolidates progress via structured integration with executable test-based verification. In empirical evaluation, we find that CAID improves accuracy over single-agent baselines by 26.7% absolute on paper reproduction tasks (PaperBench) and 14.3% on Python library development tasks (Commit0). Through systematic analysis, we find that branch-and-merge is a central coordination mechanism for multi-agent collaboration, and that SWE primitives such as git worktree, git commit, and git merge enable it to be realized in a reliable and executable manner.

With the rise of the Agent Web and Model Context Protocol (MCP), the agent ecosystem is evolving into an open collaborative network, exponentially increasing accessible tools. However, current architectures face severe scalability and generality bottlenecks. To address this, we propose ToolACE-MCP, a pipeline for training history-aware routers to empower precise navigation in large-scale ecosystems. By leveraging a dependency-rich candidate Graph to synthesize multi-turn trajectories, we effectively train routers with dynamic context understanding to create the plug-and-play Light Routing Agent. Experiments on the real-world benchmarks MCP-Universe and MCP-Mark demonstrate superior performance. Notably, ToolACE-MCP exhibits critical properties for the future Agent Web: it not only generalizes to multi-agent collaboration with minimal adaptation but also maintains exceptional robustness against noise and scales effectively to massive candidate spaces. These findings provide a strong empirical foundation for universal orchestration in open-ended ecosystems.

Communication is a prerequisite for collaboration. When scaling networks of AI-powered agents, communication must be versatile, efficient, and portable. These requisites, which we refer to as the Agent Communication Trilemma, are hard to achieve in large networks of agents. We introduce Agora, a meta protocol that leverages existing communication standards to make LLM-powered agents solve complex problems efficiently. In Agora, agents typically use standardised routines for frequent communications, natural language for rare communications, and LLM-written routines for everything in between. Agora sidesteps the Agent Communication Trilemma and robustly handles changes in interfaces and members, allowing unprecedented scalability with full decentralisation and minimal involvement of human beings. On large Agora networks, we observe the emergence of self-organising, fully automated protocols that achieve complex goals without human intervention.

Orchestrated multi-agent systems represent the next stage in the evolution of artificial intelligence, where autonomous agents collaborate through structured coordination and communication to achieve complex, shared objectives. This paper consolidates and formalizes the technical composition of such systems, presenting a unified architectural framework that integrates planning, policy enforcement, state management, and quality operations into a coherent orchestration layer. Another primary contribution of this work is the in-depth technical delineation of two complementary communication protocols - the Model Context Protocol, which standardizes how agents access external tools and contextual data, and the Agent2Agent protocol, which governs peer coordination, negotiation, and delegation. Together, these protocols establish an interoperable communication substrate that enables scalable, auditable, and policy-compliant reasoning across distributed agent collectives. Beyond protocol design, the paper details how orchestration logic, governance frameworks, and observability mechanisms collectively sustain system coherence, transparency, and accountability. By synthesizing these elements into a cohesive technical blueprint, this paper provides comprehensive treatments of orchestrated multi-agent systems - bridging conceptual architectures with implementation-ready design principles for enterprise-scale AI ecosystems.

The next generation of AI applications will continuously interact with the environment and learn from these interactions. These applications impose new and demanding systems requirements, both in terms of performance and flexibility. In this paper, we consider these requirements and present Ray---a distributed system to address them. Ray implements a unified interface that can express both task-parallel and actor-based computations, supported by a single dynamic execution engine. To meet the performance requirements, Ray employs a distributed scheduler and a distributed and fault-tolerant store to manage the system's control state. In our experiments, we demonstrate scaling beyond 1.8 million tasks per second and better performance than existing specialized systems for several challenging reinforcement learning applications.

Recent advances in large language model-powered multi-agent systems have demonstrated remarkable collective intelligence through effective communication. However, existing approaches face two primary challenges: (i) Ineffective group collaboration modeling, as they rely on pairwise edge representations in graph structures, limiting their ability to capture relationships among multiple agents; and (ii) Limited task-adaptiveness in communication topology design, leading to excessive communication cost for simple tasks and insufficient coordination for complex scenarios. These issues restrict the scalability and practical deployment of adaptive collaboration frameworks. To address these challenges, we propose HyperAgent, a hypergraph-based framework that optimizes communication topologies and effectively captures group collaboration patterns using direct hyperedge representations. Unlike edge-based approaches, HyperAgent uses hyperedges to link multiple agents within the same subtask and employs hypergraph convolutional layers to achieve one-step information aggregation in collaboration groups. Additionally, it incorporates a variational autoencoder framework with sparsity regularization to dynamically adjust hypergraph topologies based on task complexity. Experiments highlight the superiority of HyperAgent in both performance and efficiency. For instance, on GSM8K, HyperAgent achieves 95.07\% accuracy while reducing token consumption by 25.33\%, demonstrating the potential of hypergraph-based optimization for multi-agent communication.

Large language model (LLM)-based multi-agent systems (MAS) have demonstrated exceptional capabilities in solving complex tasks, yet their effectiveness depends heavily on the underlying communication topology that coordinates agent interactions. Within these systems, successful problem-solving often necessitates task-specific group structures to divide and conquer subtasks. However, most existing approaches generate communication topologies in a node-centric manner, leaving group structures to emerge implicitly from local connectivity decisions rather than modeling them explicitly, often leading to suboptimal coordination and unnecessary communication overhead. To address this limitation, we propose GoAgent (Group-of-Agents), a communication topology generation method that explicitly treats collaborative groups as the atomic units of MAS construction. Specifically, GoAgent first enumerates task-relevant candidate groups through an LLM and then autoregressively selects and connects these groups as atomic units to construct the final communication graph, jointly capturing intra-group cohesion and inter-group coordination. To mitigate communication redundancy and noise propagation inherent in expanding topologies, we further introduce a conditional information bottleneck (CIB) objective that compresses inter-group communication, preserving task-relevant signals while filtering out redundant historical noise. Extensive experiments on six benchmarks demonstrate the state-of-the-art performance of GoAgent with 93.84% average accuracy while reducing token consumption by about 17%.

The rapid evolution of Large Language Models (LLM) and subsequent Agentic AI technologies requires systematic architectural guidance for building sophisticated, production-grade systems. This paper presents an approach for architecting such systems using design patterns derived from enterprise distributed systems standards, formal methods, and industry practice. We classify these patterns into three tiers: LLM Agents (task-specific automation), Agentic AI (adaptive goal-seekers), and Agentic Communities (organizational frameworks where AI agents and human participants coordinate through formal roles, protocols, and governance structures). We focus on Agentic Communities - coordination frameworks encompassing LLM Agents, Agentic AI entities, and humans - most relevant for enterprise and industrial applications. Drawing on established coordination principles from distributed systems, we ground these patterns in a formal framework that specifies collaboration agreements where AI agents and humans fill roles within governed ecosystems. This approach provides both practical guidance and formal verification capabilities, enabling expression of organizational, legal, and ethical rules through accountability mechanisms that ensure operational and verifiable governance of inter-agent communication, negotiation, and intent modeling. We validate this framework through a clinical trial matching case study. Our goal is to provide actionable guidance to practitioners while maintaining the formal rigor essential for enterprise deployment in dynamic, multi-agent ecosystems.

Recent advances in large language models (LLMs) have opened new avenues for applying multi-agent systems in very large-scale simulations. However, there remain several challenges when conducting multi-agent simulations with existing platforms, such as limited scalability and low efficiency, unsatisfied agent diversity, and effort-intensive management processes. To address these challenges, we develop several new features and components for AgentScope, a user-friendly multi-agent platform, enhancing its convenience and flexibility for supporting very large-scale multi-agent simulations. Specifically, we propose an actor-based distributed mechanism as the underlying technological infrastructure towards great scalability and high efficiency, and provide flexible environment support for simulating various real-world scenarios, which enables parallel execution of multiple agents, centralized workflow orchestration, and both inter-agent and agent-environment interactions among agents. Moreover, we integrate an easy-to-use configurable tool and an automatic background generation pipeline in AgentScope, simplifying the process of creating agents with diverse yet detailed background settings. Last but not least, we provide a web-based interface for conveniently monitoring and managing a large number of agents that might deploy across multiple devices. We conduct a comprehensive simulation to demonstrate the effectiveness of the proposed enhancements in AgentScope, and provide detailed observations and discussions to highlight the great potential of applying multi-agent systems in large-scale simulations. The source code is released on GitHub at https://github.com/modelscope/agentscope to inspire further research and development in large-scale multi-agent simulations.

AI agents have become increasingly adept at complex tasks such as coding, reasoning, and multimodal understanding. However, building generalist systems requires moving beyond individual agents to collective inference -- a paradigm where multi-agent systems with diverse, task-specialized agents complement one another through structured communication and collaboration. Today, coordination is usually handled with imprecise, ad-hoc natural language, which limits complex interaction and hinders interoperability with domain-specific agents. We introduce Agent context protocols (ACPs): a domain- and agent-agnostic family of structured protocols for agent-agent communication, coordination, and error handling. ACPs combine (i) persistent execution blueprints -- explicit dependency graphs that store intermediate agent outputs -- with (ii) standardized message schemas, enabling robust and fault-tolerant multi-agent collective inference. ACP-powered generalist systems reach state-of-the-art performance: 28.3 % accuracy on AssistantBench for long-horizon web assistance and best-in-class multimodal technical reports, outperforming commercial AI systems in human evaluation. ACPs are highly modular and extensible, allowing practitioners to build top-tier generalist agents quickly.

Fine-tuning Large Language Models (LLMs) for specialized domains is constrained by a fundamental challenge: the need for diverse, cross-organizational data conflicts with the principles of data privacy and sovereignty. While Federated Learning (FL) provides a framework for collaboration without raw data exchange, its classic centralized form introduces a single point of failure and remains vulnerable to model inversion attacks. Decentralized FL (DFL) mitigates this risk by removing the central aggregator but typically relies on inefficient, random peer-to-peer (P2P) pairings, forming a collaboration graph that is blind to agent heterogeneity and risks negative transfer. This paper introduces KNEXA-FL, a novel framework for orchestrated decentralization that resolves this trade-off. KNEXA-FL employs a non-aggregating Central Profiler/Matchmaker (CPM) that formulates P2P collaboration as a contextual bandit problem, using a LinUCB algorithm on abstract agent profiles to learn an optimal matchmaking policy. It orchestrates direct knowledge exchange between heterogeneous, PEFT-based LLM agents via secure distillation, without ever accessing the models themselves. Our comprehensive experiments on a challenging code generation task show that KNEXA-FL yields substantial gains, improving Pass@1 by approx. 50% relative to random P2P collaboration. Critically, our orchestrated approach demonstrates stable convergence, in stark contrast to a powerful centralized distillation baseline which suffers from catastrophic performance collapse. Our work establishes adaptive, learning-based orchestration as a foundational principle for building robust and effective decentralized AI ecosystems.

Multi-agent systems based on large language models, particularly centralized architectures, have recently shown strong potential for complex and knowledge-intensive tasks. However, central agents often suffer from unstable long-horizon collaboration due to the lack of memory management, leading to context bloat, error accumulation, and poor cross-task generalization. To address both task-level memory inefficiency and the inability to reuse coordination experience, we propose StackPlanner, a hierarchical multi-agent framework with explicit memory control. StackPlanner addresses these challenges by decoupling high-level coordination from subtask execution with active task-level memory control, and by learning to retrieve and exploit reusable coordination experience via structured experience memory and reinforcement learning. Experiments on multiple deep-search and agent system benchmarks demonstrate the effectiveness of our approach in enabling reliable long-horizon multi-agent collaboration.

Recent progress on long-horizon agentic tasks has been driven largely by scaling up individual agents through stronger models, better tools, and more effective scaffolding. In contrast, much less is understood about scaling out: whether multiple peer agents, all targeting the same task, can become an additional source of capability without relying on explicit role specialization or workflow orchestration. We study this question and propose AgentFugue, a collective reasoning framework built around a shared reasoning hub. As peer agents explore the same task in parallel, the hub records concise notes on what each agent has established, attempted, or ruled out, and enables each agent to selectively access what other agents have discovered in a form useful for its current search. This design turns otherwise isolated trajectories into a connected ecology of reusable intermediate reasoning without requiring centralized planning. We instantiate the hub as a plug-in communication layer, trained with supervised fine-tuning and end-to-end reinforcement learning. Across the challenging long-horizon settings we study, AgentFugue improves over strong baselines. Our results suggest that collective reasoning can turn scaling out peer agent systems into a distinct source of capability gains, rather than merely a way of spending more compute.

This work presents a novel representation learning framework, interactive world latent (IWoL), to facilitate team coordination in multi-agent reinforcement learning (MARL). Building effective representation for team coordination is a challenging problem, due to the intricate dynamics emerging from multi-agent interaction and incomplete information induced by local observations. Our key insight is to construct a learnable representation space that jointly captures inter-agent relations and task-specific world information by directly modeling communication protocols. This representation, we maintain fully decentralized execution with implicit coordination, all while avoiding the inherent drawbacks of explicit message passing, e.g., slower decision-making, vulnerability to malicious attackers, and sensitivity to bandwidth constraints. In practice, our representation can be used not only as an implicit latent for each agent, but also as an explicit message for communication. Across four challenging MARL benchmarks, we evaluate both variants and show that IWoL provides a simple yet powerful key for team coordination. Moreover, we demonstrate that our representation can be combined with existing MARL algorithms to further enhance their performance.

The Multi-agent Path Finding (MAPF) problem involves finding collision-free paths for a team of agents in a known, static environment, with important applications in warehouse automation, logistics, or last-mile delivery. To meet the needs of these large-scale applications, current learning-based methods often deploy the same fully trained, decentralized network to all agents to improve scalability. However, such parameter sharing typically results in homogeneous behaviors among agents, which may prevent agents from breaking ties around symmetric conflict (e.g., bottlenecks) and might lead to live-/deadlocks. In this paper, we propose SYLPH, a novel learning-based MAPF framework aimed to mitigate the adverse effects of homogeneity by allowing agents to learn and dynamically select different social behaviors (akin to individual, dynamic roles), without affecting the scalability offered by parameter sharing. Specifically, SYLPH agents learn to select their Social Value Orientation (SVO) given the situation at hand, quantifying their own level of selfishness/altruism, as well as an SVO-conditioned MAPF policy dictating their movement actions. To these ends, each agent first determines the most influential other agent in the system by predicting future conflicts/interactions with other agents. Each agent selects its own SVO towards that agent, and trains its decentralized MAPF policy to enact this SVO until another agent becomes more influential. To further allow agents to consider each others' social preferences, each agent gets access to the SVO value of their neighbors. As a result of this hierarchical decision-making and exchange of social preferences, SYLPH endows agents with the ability to reason about the MAPF task through more latent spaces and nuanced contexts, leading to varied responses that can help break ties around symmetric conflicts. [...]

Large language models (LLMs) have achieved remarkable results across diverse downstream tasks, but their monolithic nature restricts scalability and efficiency in complex problem-solving. While recent research explores multi-agent collaboration among LLMs, most approaches rely on static organizational structures that struggle to adapt as task complexity and agent numbers grow, resulting in coordination overhead and inefficiencies. To this end, we propose a puppeteer-style paradigm for LLM-based multi-agent collaboration, where a centralized orchestrator ("puppeteer") dynamically directs agents ("puppets") in response to evolving task states. This orchestrator is trained via reinforcement learning to adaptively sequence and prioritize agents, enabling flexible and evolvable collective reasoning. Experiments on closed- and open-domain scenarios show that this method achieves superior performance with reduced computational costs. Analyses further reveal that the key improvements consistently stem from the emergence of more compact, cyclic reasoning structures under the orchestrator's evolution.

Multi-agent LLM systems are increasingly deployed as autonomous collaborators, where agents interact freely rather than execute fixed, pre-specified workflows. In such settings, effective coordination cannot be fully designed in advance and must instead emerge through interaction. However, most prior work enforces coordination through fixed roles, workflows, or aggregation rules, leaving open the question of how well self-organizing teams perform when coordination is unconstrained. Drawing on organizational psychology, we study whether self-organizing LLM teams achieve strong synergy, where team performance matches or exceeds the best individual member. Across human-inspired and frontier ML benchmarks, we find that -- unlike human teams -- LLM teams consistently fail to match their expert agent's performance, even when explicitly told who the expert is, incurring performance losses of up to 37.6%. Decomposing this failure, we show that expert leveraging, rather than identification, is the primary bottleneck. Conversational analysis reveals a tendency toward integrative compromise -- averaging expert and non-expert views rather than appropriately weighting expertise -- which increases with team size and correlates negatively with performance. Interestingly, this consensus-seeking behavior improves robustness to adversarial agents, suggesting a trade-off between alignment and effective expertise utilization. Our findings reveal a significant gap in the ability of self-organizing multi-agent teams to harness the collective expertise of their members.

Deep reinforcement learning has emerged as a powerful tool for obtaining high-performance policies. However, the safety of these policies has been a long-standing issue. One promising paradigm to guarantee safety is a shield, which shields a policy from making unsafe actions. However, computing a shield scales exponentially in the number of state variables. This is a particular concern in multi-agent systems with many agents. In this work, we propose a novel approach for multi-agent shielding. We address scalability by computing individual shields for each agent. The challenge is that typical safety specifications are global properties, but the shields of individual agents only ensure local properties. Our key to overcome this challenge is to apply assume-guarantee reasoning. Specifically, we present a sound proof rule that decomposes a (global, complex) safety specification into (local, simple) obligations for the shields of the individual agents. Moreover, we show that applying the shields during reinforcement learning significantly improves the quality of the policies obtained for a given training budget. We demonstrate the effectiveness and scalability of our multi-agent shielding framework in two case studies, reducing the computation time from hours to seconds and achieving fast learning convergence.

Autonomous Graphical User Interface (GUI) agents powered by Multimodal Large Language Models (MLLMs) enable digital automation on end-user devices. While scaling both parameters and data has yielded substantial gains, advanced methods still suffer from prohibitive deployment costs on resource-constrained devices. When facing complex in-the-wild scenarios, lightweight GUI agents are bottlenecked by limited capacity and poor task scalability under end-to-end episodic learning, impeding adaptation to multi-agent systems (MAS), while training multiple skill-specific experts remains costly. Can we strike an effective trade-off in this cost-scalability dilemma, enabling lightweight MLLMs to participate in realistic GUI workflows? To address these challenges, we propose the LAMO framework, which endows a lightweight MLLM with GUI-specific knowledge and task scalability, allowing multi-role orchestration to expand its capability boundary for GUI automation. LAMO combines role-oriented data synthesis with a two-stage training recipe: (i) supervised fine-tuning with Perplexity-Weighted Cross-Entropy optimization for knowledge distillation and visual perception enhancement, and (ii) reinforcement learning for role-oriented cooperative exploration. With LAMO, we develop a task-scalable native GUI agent, LAMO-3B, supporting monolithic execution and MAS-style orchestration. When paired with advanced planners as a plug-and-play policy executor, LAMO-3B can continuously benefit from planner advances, enabling a higher performance ceiling. Extensive static and online evaluations validate the effectiveness of our design.

With an ever-growing zoo of LLMs and benchmarks, the need to orchestrate multiple models for improved task performance has never been more pressing. While frameworks like Mixture-of-Agents (MoA) attempt to coordinate LLMs, they often fall short in terms of (1) selecting relevant agents, (2) facilitating effective intra-agent communication, and (3) integrating responses efficiently. In this work, we propose Graph-of-Agents (GoA), a new graph-based framework for modeling multi-agent LLM communication. Our approach begins with node sampling, selecting only the most relevant agents by leveraging model cards that summarize each model's domain, task specialization, and other characteristics. Next, we construct edges between the selected agents by evaluating their responses against one another to determine relevance ordering. Directed message passing is then performed from highly relevant agents to less relevant ones to enhance their responses, followed by reverse message passing to refine the original responses of the more relevant agents. Finally, the updated responses are aggregated via graph-based pooling (e.g., max or mean pooling) to produce a single, unified answer. We evaluate GoA on diverse multi-domain benchmarks (MMLU, MMLU-Pro, GPQA) and domain-specific benchmarks (MATH, HumanEval, MedMCQA), with an agent pool of 6 LLMs spanning multiple domains. Surprisingly, GoA achieves superior performance using only 3 selected agents, outperforming recent multi-agent LLM baselines that utilize all 6 agents simultaneously. By adopting a graph structure, GoA offers both scalability and effectiveness through structured message passing-positioning it as a strong candidate for navigating the challenges of the ever-growing LLM zoo. Code is available at: https://github.com/UNITES-Lab/GoA.

Recent advances in LLM Multi-Agent Systems enable scalable orchestration of sub-agents, each coordinating hundreds or thousands of tools or Model Context Protocol (MCP) servers. However, existing retrieval methods typically match queries against coarse agent-level descriptions before routing, which obscures fine-grained tool functionality and often results in suboptimal agent selection. We introduce Tool-to-Agent Retrieval, a unified framework that embeds both tools and their parent agents in a shared vector space and connects them through metadata relationships. By explicitly representing tool capabilities and traversing metadata to the agent level, Tool-to-Agent Retrieval enables granular tool-level or agent-level retrieval, ensuring that agents and their underlying tools or MCP servers are equally represented without the context dilution that arises from chunking many tools together. Evaluating Tool-to-Agent Retrieval across eight embedding models, our approach achieves consistent improvements of 19.4% in Recall@5 and 17.7% in nDCG@5 over previous state-of-the-art agent retrievers on the LiveMCPBench benchmark.

Large language model (LLM)-powered agents are transforming digital devices from passive tools into proactive intelligent collaborators. However, most existing frameworks remain confined to a single OS or device, making cross-device workflows brittle and largely manual. We present UFO^3, a system that unifies heterogeneous endpoints, desktops, servers, mobile devices, and edge, into a single orchestration fabric. UFO^3 models each user request as a mutable TaskConstellation: a distributed DAG of atomic subtasks (TaskStars) with explicit control and data dependencies (TaskStarLines). The TaskConstellation continuously evolves as results stream in from distributed devices, enabling asynchronous execution, adaptive recovery, and dynamic optimization. A Constellation Orchestrator} executes tasks safely and asynchronously while applying dynamic DAG updates, and the Agent Interaction Protocol (AIP) provides persistent, low-latency channels for reliable task dispatch and result streaming. These designs dissolve the traditional boundaries between devices and platforms, allowing agents to collaborate seamlessly and amplify their collective intelligence. We evaluate UFO^3 on NebulaBench, a benchmark of 55 cross-device tasks across 5 machines and 10 categories. UFO^3 achieves 83.3% subtask completion, 70.9% task success, exposes parallelism with an average width of 1.72, and reduces end-to-end latency by 31% relative to a sequential baseline. Fault-injection experiments demonstrate graceful degradation and recovery under transient and permanent agent failures. These results show that UFO^3 achieves accurate, efficient, and resilient task orchestration across heterogeneous devices, uniting isolated agents into a coherent, adaptive computing fabric that extends across the landscape of ubiquitous computing.

Skill ecosystems for LLM agents have matured rapidly, yet recent benchmarks show that providing agents with more skills does not monotonically improve performance -- focused sets of 2-3 skills outperform comprehensive documentation, and excessive skills actually hurt. The bottleneck has shifted from skill availability to skill orchestration: agents need not more skills, but a structural mechanism to select, compose, and execute them with explicit causal dependencies. We propose GraSP, the first executable skill graph architecture that introduces a compilation layer between skill retrieval and execution. GraSP transforms flat skill sets into typed directed acyclic graphs (DAGs) with precondition-effect edges, executes them with node-level verification, and performs locality-bounded repair through five typed operators -- reducing replanning from O(N) to O(d^h). Across ALFWorld, ScienceWorld, WebShop, and InterCode with eight LLM backbones, GraSP outperforms ReAct, Reflexion, ExpeL, and flat skill baselines in every configuration, improving reward by up to +19 points over the strongest baseline while cutting environment steps by up to 41%. GraSP's advantage grows with task complexity and is robust to both skill over-retrieval and quality degradation, confirming that structured orchestration -- not larger skill libraries -- is the key to reliable agent execution.

Teamwork in workspace for complex tasks requires diverse communication strategies, but current multi-agent LLM systems lack systematic frameworks for task oriented communication. We introduce Communication to Completion (C2C), a scalable framework that addresses this gap through two key innovations: (1) the Alignment Factor (AF), a novel metric quantifying agent task alignment that directly impacts work efficiency, and (2) a Sequential Action Framework that integrates stepwise execution with intelligent communication decisions. C2C enables agents to make cost aware communication choices, dynamically improving task understanding through targeted interactions. We evaluated C2C on realistic coding workflows across three complexity tiers and team sizes from 5 to 17 agents, comparing against no communication and fixed steps baselines. The results show that C2C reduces the task completion time by about 40% with acceptable communication costs. The framework completes all tasks successfully in standard configurations and maintains effectiveness at scale. C2C establishes both a theoretical foundation for measuring communication effectiveness in multi-agent systems and a practical framework for complex collaborative tasks.

Autonomous coding agents now open millions of pull requests, yet large-scale studies find their PRs are produced faster but accepted less often - a coordination and trust gap that pull-request-level telemetry cannot explain. We argue the missing signal lives before the PR, in how concurrent agents claim, divide, and collide over shared work. We study this process through grite, our open-source coordination substrate that needs no central server and stores its records inside git itself, so its append-only, signed event log captures the coordination process directly. We show that (i) this shared substrate reduces duplicate and conflicting work at bounded overhead - the share of work that merely re-does a teammate's task falls from 78% to 0% while useful throughput more than triples; (ii) every agent's copy of the log converges to the same state with no write silently dropped, where a file-based tracker loses concurrent writes; and (iii) the log is a mineable artefact from which concrete failure modes - conflicting edits, lock starvation, redundant rediscovery, race-to-close - are automatically recoverable with provenance, several invisible in pull-request history. We release the dataset, harness, and mining toolkit.

Existing multi-LLM collaboration systems often encounter scalability challenges when integrating new LLMs and tasks, leading to suboptimal performance. To address this, we propose SMCS, a Scalable Multi-LLM Collaboration System designed to effectively coordinate multiple open-source LLMs. The system consists of two core components: a Retrieval-based Prior Selection (RPS) module, which dynamically selects the most suitable LLMs for each input, and an Exploration-Exploitation-Driven Posterior Enhancement (EPE) module, which fosters response diversity and selects high-quality outputs through a hybrid scoring mechanism. Experiments on eight mainstream benchmarks validate the effectiveness of our system: by integrating fifteen open-source LLMs, SMCS outperforms prevailing closed-source LLMs, e.g., GPT-4.1(+5.36%) and GPT-o3-mini(+5.28%) across multiple tasks. Remarkably, it even exceeds the average of best results on different datasets with open-source LLMs (+2.86%), significantly advancing the empirical performance frontier of open-source collaboration. The code is released at https://github.com/magent4aci/SMCS.

Autonomous agents are moving from tools into a layer of social infrastructure: they browse, purchase, deploy software, manage systems, and increasingly interact with one another. As these systems scale, the bottleneck shifts away from raw model capability toward coordination. Agents need to form reliable relationships, organize multi-agent work, exchange value, support an AI economy, and stay safe and accountable under real-world oversight. This paper introduces the Foundation Protocol (FP), a graph-first coordination layer for an emerging human-AI society. FP unifies heterogeneous entities, including agents, tools, resources, humans, institutions, and organizations, and supports native multi-party organization and event-based collaboration. It also provides economic primitives for metering, receipts, and settlement, and treats policy, provenance, and audit as first-class concerns. FP is designed to wrap and bridge existing protocols rather than replace them, enabling incremental adoption while reducing integration and governance overhead. The aim is to keep autonomous agency composable while keeping accountability non-negotiable, so that coordination itself can become shared infrastructure for a human-AI society that is open, pluralistic, and governable.

MoltBook is a large-scale multi-agent coordination environment where over 770,000 autonomous LLM agents interact without human participation, offering the first opportunity we are aware of to observe emergent multi-agent coordination dynamics at this population scale. We introduce Molt Dynamics: the emergent agent coordination behaviors, inter-agent communication dynamics, and role specialization patterns arising when autonomous agents operate as decentralized decision-makers in an unconstrained multi-agent environment. Through longitudinal observation of 90,704 active agents over three weeks, we characterize three aspects. First, spontaneous role specialization: network-based clustering reveals six structural roles (silhouette 0.91), though the result primarily reflects core-periphery organization -- 93.5\% of agents occupy a homogeneous peripheral cluster, with meaningful differentiation confined to the active minority. Second, decentralized information dissemination: cascade analysis of 10,323 inter-agent propagation events reveals power-law distributed cascade sizes (α= 2.57 pm 0.02) and saturating adoption dynamics where adoption probability shows diminishing returns with repeated exposures (Cox hazard ratio 0.53, concordance 0.78). Third, distributed cooperative task resolution: 164 multi-agent collaborative events show detectable coordination patterns, but success rates are low (6.7\%, p = 0.057) and cooperative outcomes are significantly worse than a matched single-agent baseline (Cohen's d = -0.88), indicating emergent cooperative behavior is nascent. These findings establish an empirical baseline for coordination dynamics in decentralized autonomous agent systems, with implications for multi-agent system design, agent communication protocol engineering, and AI safety.

Agentic Web is an emerging paradigm where autonomous agents help users use online information. As the paradigm develops, content providers are also deploying agents to manage their data and serve it through controlled interfaces. This shift moves information access from centralized retrieval to decentralized coordination. To study this setting, we introduce AgentWebBench, a benchmark that evaluates how well a user agent synthesizes answers by interacting with website-specific content agents. We evaluate four tasks that cover common web information needs, spanning ranked retrieval (web search, web recommendation) and open-ended synthesis (question answering, deep research). Across seven advanced LLMs and three coordination strategies, multi-agent coordination generally lags behind centralized retrieval as expected, because user agent cannot directly access the corpus, but the gap shrinks with model scale and can even outperform centralized retrieval on question answering. This benchmark also enables us to study properties of the emerging paradigm of the digital world. We find that decentralized access concentrates traffic toward a small set of websites, test time scaling improves both interaction reliability and task performance, and strong results require sufficient interactions guided by careful planning. Finally, our failure analysis suggests that user agents need better planning and answer synthesis, while content agents need more reliable retrieval and evidence quality. Code, data, and APIs are released on https://github.com/cxcscmu/AgentWebBench.

As LLM-based multi-agent systems (MAS) become more autonomous, their free-form interactions increasingly dominate system behavior. However, scaling the number of agents often amplifies context pressure, coordination errors, and system drift. It is well known that building robust MAS requires more than prompt tuning or increased model intelligence. It necessitates engineering discipline focused on architecture to manage complexity under uncertainty. We characterize agentic software by a core property: runtime generation and evolution under uncertainty. Drawing upon and extending software engineering experience, especially object-oriented programming, this paper introduces Loosely-Structured Software (LSS), a new class of software systems that shifts the engineering focus from constructing deterministic logic to managing the runtime entropy generated by View-constructed programming, semantic-driven self-organization, and endogenous evolution. To make this entropy governable, we introduce design principles under a three-layer engineering framework: View/Context Engineering to manage the execution environment and maintain task-relevant Views, Structure Engineering to organize dynamic binding over artifacts and agents, and Evolution Engineering to govern the lifecycle of self-rewriting artifacts. Building on this framework, we develop LSS design patterns as semantic control blocks that stabilize fluid, inference-mediated interactions while preserving agent adaptability. Together, these abstractions improve the designability, scalability, and evolvability of agentic infrastructure. We provide basic experimental validation of key mechanisms, demonstrating the effectiveness of LSS.

Optimizing communication topology in LLM-based multi-agent system is critical for enabling collective intelligence. Existing methods mainly rely on spatio-temporal interaction paradigms, where the sequential execution of multi-round dialogues incurs high latency and computation. Motivated by the recent insights that evaluation and debate mechanisms can improve problem-solving in multi-agent systems, we propose TopoDIM, a framework for one-shot Topology generation with Diverse Interaction Modes. Designed for decentralized execution to enhance adaptability and privacy, TopoDIM enables agents to autonomously construct heterogeneous communication without iterative coordination, achieving token efficiency and improved task performance. Experiments demonstrate that TopoDIM reduces total token consumption by 46.41% while improving average performance by 1.50% over state-of-the-art methods. Moreover, the framework exhibits strong adaptability in organizing communication among heterogeneous agents. Code is available at: https://anonymous.4open.science/r/TopoDIM-8D35/

We study reinforcement learning for global decision-making in the presence of many local agents, where the global decision-maker makes decisions affecting all local agents, and the objective is to learn a policy that maximizes the rewards of both the global and the local agents. Such problems find many applications, e.g. demand response, EV charging, queueing, etc. In this setting, scalability has been a long-standing challenge due to the size of the state/action space which can be exponential in the number of agents. This work proposes the SUB-SAMPLE-Q algorithm where the global agent subsamples kleq n local agents to compute an optimal policy in time that is only exponential in k, providing an exponential speedup from standard methods that are exponential in n. We show that the learned policy converges to the optimal policy in the order of O(1/k+epsilon_{k,m}) as the number of sub-sampled agents k increases, where epsilon_{k,m} is the Bellman noise. We also conduct numerical simulations in a demand-response setting and a queueing setting.

We introduce OSGym, a scalable distributed Data Engine for training agents across diverse computer use tasks. OSGym efficiently scales to more than a thousand operating system (OS) replicas under academia-affordable cost budget, to serve as agent runtime environments. OSGym has three advantages: 1) Scalability: Despite intensive resource consumption for running OS replicas, OSGym can parallelize a thousand OS replicas while maintaining the operation efficiency under limited resources. Its scalable parallelization enables generating a vast amount of data (1420 multi-turn trajectories per minute). 2) Generality and Customizability: OSGym supports a wide variety of tasks as long as they run on operating systems, including functional tool-use, browser interactions, software engineering, office applications, etc. It also enables easy and flexible customization of model training algorithms. 3) Economic Viability for Academia Use: Only costs 0.2 to 0.3 USD per day per OS replica on easily accessible on-demand compute providers. Our experiments demonstrate the effectiveness of OSGym for implementing comprehensive pipelines for data collection, supervised fine-tuning, and reinforcement learning for computer use agents. We believe OSGym will push the scalability and universality in future agent research.

Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard, scalable, and efficient, solvers are vital for real-world applications like logistics, search-and-rescue, etc. To this end, decentralized suboptimal MAPF solvers that leverage machine learning have come on stage. Building on the success of the recently introduced MAPF-GPT, a pure imitation learning solver, we introduce MAPF-GPT-DDG. This novel approach effectively fine-tunes the pre-trained MAPF model using centralized expert data. Leveraging a novel delta-data generation mechanism, MAPF-GPT-DDG accelerates training while significantly improving performance at test time. Our experiments demonstrate that MAPF-GPT-DDG surpasses all existing learning-based MAPF solvers, including the original MAPF-GPT, regarding solution quality across many testing scenarios. Remarkably, it can work with MAPF instances involving up to 1 million agents in a single environment, setting a new milestone for scalability in MAPF domains.

Multi-agent systems (MAS) can scale large language model reasoning at test time by decomposing complex problems into parallel subtasks. However, most existing MAS rely on centralized orchestration, where a main agent assigns work, collects outputs, and merges results. As the number of subtasks grows, this controller becomes a communication and integration bottleneck. We propose Decentralized Language Models (DeLM), a MAS framework that decentralizes coordination through parallel agents, a shared verified context, and a task queue. Agents asynchronously claim subtasks, read accumulated progress, perform local reasoning, and write back compact verified updates. The shared context acts as a common communication substrate, enabling agents to build on one another's verified progress without routing every update through a central controller. Empirically, DeLM improves both software-engineering test-time scaling and long-context reasoning. On SWE-bench Verified, DeLM achieves the best performance across Avg.@1, Pass@2, and Pass@4, with gains of up to 10.5 percentage points over the strongest baseline, while reducing cost per task by roughly 50%. On LongBench-v2 Multi-Doc QA, DeLM achieves the highest average accuracy across four frontier model families, improving over the strongest baseline by up to 5.7 percentage points. The code is available on our project website at https://yuzhenmao.github.io/DeLM/.