Personal use of this material is permitted. Abstract-- Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation goals and ensuring stable, kinematically feasible trajectories. Addressing the former challenge, this paper investigates the extension of attention-based motion prediction models with navigation information. By integrating the ego vehicle's intended route and goal pose into the model architecture, we bridge the gap between multi-agent motion prediction and goal-based motion planning. We propose and evaluate several architectural navigation integration strategies to our model on the nuPlan dataset. Our results demonstrate the potential of prediction-driven motion planning, highlighting how navigation information can enhance both prediction and planning tasks. In driving scenarios that involve interactions between traffic participants, accurately predicting others' future trajectories is essential for effective planning.

Multi-Agent Systems (MAS) with large language models (LLMs) enable personalized education but risk leaking minors personally identifiable information (PII) via unstructured dialogue. Existing privacy methods struggle to balance security and utility: role-based access control fails on unstructured text, while naive masking destroys pedagogical context. We propose SRPG, a privacy guard for educational MAS, using a Dual-Stream Reconstruction Mechanism: a strict sanitization stream ensures zero PII leakage, and a context reconstruction stream (LLM driven) recovers mathematical logic. This decouples instructional content from private data, preserving teaching efficacy. Tests on MathDial show SRPG works across models; with GPT-4o, it achieves 0.0000 Attack Success Rate (ASR) (zero leakage) and 0.8267 Exact Match, far outperforming the zero trust Pure LLM baseline (0.2138). SRPG effectively protects minors privacy without sacrificing mathematical instructional quality.

Precision agriculture and smart farming are increasingly adopted to improve productivity, reduce input waste, and maintain high product quality under growing demand. These approaches integrate sensing, automation, and data-driven decision-making to improve crop yield and post-harvest quality (Gupta, Abdelsalam, Khorsandroo, and Mittal (2020)). In this context, autonomous robotic harvesting is a key enabling technology for horticulture, where labor shortages and high labor costs directly affect production and consistency. Despite progress in mechanization, many conventional harvesting methods (e.g., combine harvesters, reapers, and trunk shakers) are unsuitable for soft and delicate crops such as tomatoes and strawberries because large contact forces and impacts can bruise or damage the fruit (Cho, Iida, Suguri, Masuda, and Kurita (2014); Shojaei (2021)). Selective harvesting, where fruits are picked individually at the appropriate ripeness stage, is therefore preferred for high-value crops. However, selective harvesting remains challenging because a robot must (i) detect the target fruit under occlusion, (ii) estimate its pose and identify the pedicel cutting location, and (iii) execute grasping and detachment without damaging the fruit or plant. In real cultivation environments, tomatoes are often densely packed and partially occluded by leaves and branches, making perception and reliable manipulation difficult (Chen et al. (2015)). Consequently, integrated harvesting systems that combine compliant end-effectors, robust perception, and closed-loop control remain an active research topic (Comba, Gay, Piccarolo, and Ricauda Aimonino (2010); Ling, Zhao, Gong, Liu, and Wang (2019)). A wide range of end-effectors has been explored for harvesting and handling soft produce.

We introduce a new approach to agent programming, the development of LLM-based agents. Current approaches to agent programming often entangle two aspects of agent design: the core workflow logic and the inference-time strategy (e.g., tree search). We introduce "probabilistic angelic nondeterminism" ("PAN"), a programming model that disentangles these two concerns, allowing the programmer to describe the agent workflow and independently experiment with different inference-time strategies by simply changing a few inputs. We provide an implementation of PAN in Python as the EnCompass framework, which uses a Python decorator to compile agent workflow programs into a search space. We present three case studies that demonstrate how the framework lets the programmer quickly improve the reliability of an agent and easily switch between different inference-time strategies, all with little additional coding.

Despite recent advances, autonomous agents often struggle to solve complex tasks in enterprise domains that require coordinating multiple tools and processing diverse data sources. This struggle is driven by two main limitations. First, single-agent architectures enforce a monolithic plan-execute loop, which directly causes trajectory instability. Second, the requirement to use local open-weight models for data privacy introduces smaller context windows leading to the rapid consumption of context from large tool outputs. To solve this problem we introduce RP-ReAct (Reasoner Planner-ReAct), a novel multi-agent approach that fundamentally decouples strategic planning from low-level execution to achieve superior reliability and efficiency. RP-ReAct consists of a Reasoner Planner Agent (RPA), responsible for planning each sub-step, continuously analysing the execution results using the strong reasoning capabilities of a Large Reasoning Model, and one or multiple Proxy-Execution Agent (PEA) that translates sub-steps into concrete tool interactions using a ReAct approach. Crucially, we incorporate a context-saving strategy within the PEA to mitigate context window overflow by managing large tool outputs via external storage and on-demand access. We evaluate RP-ReAct, on the challenging, multi-domain ToolQA benchmark using a diverse set of six open-weight reasoning models. Our empirical results show that RP-ReAct achieves superior performance and improved generalization ability over state-of-the-art baselines when addressing diverse complex tasks across the evaluated domains. Furthermore we establish the enhanced robustness and stability of our approach across different model scales, paving the way for effective and deployable agentic solutions for enterprises.

We introduce PARC, a coding agent for the autonomous and robust execution of long-horizon computational tasks. PARC is built on a hierarchical multi-agent architecture incorporating task planning, execution, and a mechanism that evaluates its own actions and their outcomes from an independent context and provides feedback, namely self-assessment and self-feedback. This design enables PARC to detect and correct high-level strategic errors and sustain progress without human intervention. We evaluate PARC across computational science and data science tasks. In materials science, it autonomously reproduces key results from studies on lithium-ion conduction and alloy segregation. In particular, it coordinates dozens of parallel simulation tasks, each requiring roughly 43 hours of computation, managing orchestration, monitoring, and error correction end-to-end. In Kaggle-based experiments, starting from minimal natural-language instructions, PARC conducts data analysis and implements search strategies, producing solutions competitive with human-engineered baselines. These results highlight the potential of integrating a hierarchical multi-agent system with self-assessment and self-feedback to enable AI systems capable of independent, large-scale scientific and analytical work.

Communication is one of the effective means to improve the learning of cooperative policy in multi-agent systems. However, in most real-world scenarios, lossy communication is a prevalent issue. Existing multi-agent reinforcement learning with communication, due to their limited scalability and robustness, struggles to apply to complex and dynamic real-world environments. To address these challenges, we propose a generalized communication-constrained model to uniformly characterize communication conditions across different scenarios. Based on this, we utilize it as a learning prior to distinguish between lossy and lossless messages for specific scenarios. Additionally, we decouple the impact of lossy and lossless messages on distributed decision-making, drawing on a dual mutual information estimatior, and introduce a communication-constrained multi-agent reinforcement learning framework, quantifying the impact of communication messages into the global reward. Finally, we validate the effectiveness of our approach across several communication-constrained benchmarks.

We propose Modal Logical Neural Networks (MLNNs), a neurosymbolic framework that integrates deep learning with the formal semantics of modal logic, enabling reasoning about necessity and possibility. Drawing on Kripke semantics, we introduce specialized neurons for the modal operators $\Box$ and $\Diamond$ that operate over a set of possible worlds, enabling the framework to act as a differentiable ``logical guardrail.'' The architecture is highly flexible: the accessibility relation between worlds can either be fixed by the user to enforce known rules or, as an inductive feature, be parameterized by a neural network. This allows the model to optionally learn the relational structure of a logical system from data while simultaneously performing deductive reasoning within that structure. This versatile construction is designed for flexibility. The entire framework is differentiable from end to end, with learning driven by minimizing a logical contradiction loss. This not only makes the system resilient to inconsistent knowledge but also enables it to learn nonlinear relationships that can help define the logic of a problem space. We illustrate MLNNs on four case studies: grammatical guardrailing, axiomatic detection of the unknown, multi-agent epistemic trust, and detecting constructive deception in natural language negotiation. These experiments demonstrate how enforcing or learning accessibility can increase logical consistency and interpretability without changing the underlying task architecture.

Large Language Model (LLM) agents are increasingly studied in multi-turn, multi-agent scenarios, yet most existing setups emphasize open-ended role-play rather than controlled evaluation. We introduce AsymPuzl, a minimal but expressive two-agent puzzle environment designed to isolate communication under information asymmetry. Each agent observes complementary but incomplete views of a symbolic puzzle and must exchange messages to solve it cooperatively. Using a diverse set of current-generation and open-source LLMs, we show that (i) strong models such as GPT-5 and Claude-4.0 reliably converge across puzzle sizes on the solution by sharing complete information in two turns, (ii) weaker models often ignore partner messages or over-correct their hypotheses, and (iii) feedback design is non-trivial: simple self-feedback improves success rates, while detailed joint feedback can hurt performance. These findings show that even in simple cooperative tasks, LLM communication strategies diverge and depend on the granularity of feedback signals. AsymPuzl thus provides a testbed for probing the limits of multi-turn cooperation and opens avenues for studying coordination mechanisms.

Vision-language pretraining (VLP) has emerged as a powerful paradigm in medical image analysis, enabling representation learning from large-scale image-text pairs without relying on expensive manual annotations. However, existing methods often struggle with the noise inherent in web-collected data and the complexity of unstructured long medical texts. To address these challenges, we propose a novel VLP framework integrating a Multi-Agent data GENeration (MAGEN) system and Ontology-based Multi-Aspect Knowledge-Enhanced (O-MAKE) pretraining. First, MAGEN enhances data quality by synthesizing knowledge-enriched descriptions via a foundation model-assisted captioning and retrieval-based verification pipeline. Second, O-MAKE addresses the difficulty of learning from long, unstructured texts by decomposing them into distinct knowledge aspects. This facilitates fine-grained alignment at both global and patch levels, while explicitly modeling medical concept relationships through ontology-guided mechanisms. We validate our framework in the field of dermatology, where comprehensive experiments demonstrate the effectiveness of each component. Our approach achieves state-of-the-art zero-shot performance on disease classification and cross-modal retrieval tasks across eight datasets. Our code and the augmented dataset Derm1M-AgentAug, comprising over 400k skin-image-text pairs, will be released at https://github.com/SiyuanYan1/Derm1M.