Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error reasoning signal that helps embodied agents diagnose what went wrong and correct course. We introduce LAGEA (Language Guided Embodied Agents), a framework that turns episodic, schema-constrained reflections from a vision language model (VLM) into temporally grounded guidance for reinforcement learning. LAGEA summarizes each attempt in concise language, localizes the decisive moments in the trajectory, aligns feedback with visual state in a shared representation, and converts goal progress and feedback agreement into bounded, step-wise shaping rewardswhose influence is modulated by an adaptive, failure-aware coefficient. This design yields dense signals early when exploration needs direction and gracefully recedes as competence grows. On the Meta-World MT10 embodied manipulation benchmark, LAGEA improves average success over the state-of-the-art (SOTA) methods by 9.0% on random goals and 5.3% on fixed goals, while converging faster. These results support our hypothesis: language, when structured and grounded in time, is an effective mechanism for teaching robots to self-reflect on mistakes and make better choices. Code will be released soon.

The exponential growth of wireless devices and stringent reliability requirements of emerging applications demand fundamental improvements in distributed channel access mechanisms for unlicensed bands. Current Wi-Fi systems, which rely on binary exponential backoff (BEB), suffer from suboptimal collision resolution in dense deployments and persistent fairness challenges due to inherent randomness. This paper introduces a multi-agent reinforcement learning framework that integrates artificial intelligence (AI) optimization with legacy device coexistence. We first develop a dynamic backoff selection mechanism that adapts to real-time channel conditions through access deferral events while maintaining full compatibility with conventional CSMA/CA operations. Second, we introduce a fairness quantification metric aligned with enhanced distributed channel access (EDCA) principles to ensure equitable medium access opportunities. Finally, we propose a centralized training decentralized execution (CTDE) architecture incorporating neighborhood activity patterns as observational inputs, optimized via constrained multi-agent proximal policy optimization (MAPPO) to jointly minimize collisions and guarantee fairness. Experimental results demonstrate that our solution significantly reduces collision probability compared to conventional BEB while preserving backward compatibility with commercial Wi-Fi devices. The proposed fairness metric effectively eliminates starvation risks in heterogeneous scenarios.

Large language models (LLMs) often display sycophancy, a tendency toward excessive agreeability. This behavior poses significant challenges for multi-agent debating systems (MADS) that rely on productive disagreement to refine arguments and foster innovative thinking. LLMs' inherent sycophancy can collapse debates into premature consensus, potentially undermining the benefits of multi-agent debate. While prior studies focus on user--LLM sycophancy, the impact of inter-agent sycophancy in debate remains poorly understood. To address this gap, we introduce the first operational framework that (1) proposes a formal definition of sycophancy specific to MADS settings, (2) develops new metrics to evaluate the agent sycophancy level and its impact on information exchange in MADS, and (3) systematically investigates how varying levels of sycophancy across agent roles (debaters and judges) affects outcomes in both decentralized and centralized debate frameworks. Our findings reveal that sycophancy is a core failure mode that amplifies disagreement collapse before reaching a correct conclusion in multi-agent debates, yields lower accuracy than single-agent baselines, and arises from distinct debater-driven and judge-driven failure modes. Building on these findings, we propose actionable design principles for MADS, effectively balancing productive disagreement with cooperation in agent interactions.

In practical multi-agent systems, agents often have diverse objectives, which makes the system more complex, as each agent's performance across multiple criteria depends on the joint actions of all agents, creating intricate strategic trade-offs. To address this, we introduce the Multi-Objective Markov Game (MOMG), a framework for multi-agent reinforcement learning with multiple objectives. We propose the Pareto-Nash Equilibrium (PNE) as the primary solution concept, where no agent can unilaterally improve one objective without sacrificing performance on another. We prove existence of PNE, and establish an equivalence between the PNE and the set of Nash Equilibria of MOMG's corresponding linearly scalarized games, enabling solutions of MOMG by transferring to a standard single-objective Markov game. However, we note that computing a PNE is theoretically and computationally challenging, thus we propose and study weaker but more tractable solution concepts. Building on these foundations, we develop online learning algorithm that identify a single solution to MOMGs. Furthermore, we propose a two-phase, preference-free algorithm that decouples exploration from planning. Our algorithm enables computation of a PNE for any given preference profile without collecting new samples, providing an efficient methodological characterization of the entire Pareto-Nash front.

Cloud computing is an established technology allowing users to share resources on a large scale, never before seen in IT history. A cloud system connects multiple individual servers in order to process related tasks in several environments at the same time. Clouds are typically more cost-effective than single computers of comparable computing performance. The sheer physical size of the system itself means that thousands of machines may be involved. The focus of this research was to design a strategy to dynamically allocate tasks without overloading Cloud nodes which would result in system stability being maintained at minimum cost. This research has added the following new contributions to the state of knowledge: (i) a novel taxonomy and categorisation of three classes of schedulers, namely OS-level, Cluster and Big Data, which highlight their unique evolution and underline their different objectives; (ii) an abstract model of cloud resources utilisation is specified, including multiple types of resources and consideration of task migration costs; (iii) a virtual machine live migration was experimented with in order to create a formula which estimates the network traffic generated by this process; (iv) a high-fidelity Cloud workload simulator, based on a month-long workload traces from Google's computing cells, was created; (v) two possible approaches to resource management were proposed and examined in the practical part of the manuscript: the centralised metaheuristic load balancer and the decentralised agent-based system. The project involved extensive experiments run on the University of Westminster HPC cluster, and the promising results are presented together with detailed discussions and a conclusion.

Intelligent agents often require collaborative strategies to achieve complex tasks beyond individual capabilities in real-world scenarios. While existing audio-visual navigation (AVN) research mainly focuses on single-agent systems, their limitations emerge in dynamic 3D environments where rapid multi-agent coordination is critical, especially for time-sensitive applications like emergency response. This paper introduces MASTAVN (Multi-Agent Scalable Transformer Audio-Visual Navigation), a scalable framework enabling two agents to collaboratively localize and navigate toward an audio target in shared 3D environments. By integrating cross-agent communication protocols and joint audio-visual fusion mechanisms, MASTAVN enhances spatial reasoning and temporal synchronization. Through rigorous evaluation in photorealistic 3D simulators (Replica and Matterport3D), MASTAVN achieves significant reductions in task completion time and notable improvements in navigation success rates compared to single-agent and non-collaborative baselines. This highlights the essential role of spatiotemporal coordination in multi-agent systems. Our findings validate MASTAVN's effectiveness in time-sensitive emergency scenarios and establish a paradigm for advancing scalable multi-agent embodied intelligence in complex 3D environments.

Multimodal agents have demonstrated strong performance in general GUI interactions, but their application in automotive systems has been largely unexplored. In-vehicle GUIs present distinct challenges: drivers' limited attention, strict safety requirements, and complex location-based interaction patterns. To address these challenges, we introduce Automotive-ENV, the first high-fidelity benchmark and interaction environment tailored for vehicle GUIs. This platform defines 185 parameterized tasks spanning explicit control, implicit intent understanding, and safety-aware tasks, and provides structured multimodal observations with precise programmatic checks for reproducible evaluation. Building on this benchmark, we propose ASURADA, a geo-aware multimodal agent that integrates GPS-informed context to dynamically adjust actions based on location, environmental conditions, and regional driving norms. Experiments show that geo-aware information significantly improves success on safety-aware tasks, highlighting the importance of location-based context in automotive environments. We will release Automotive-ENV, complete with all tasks and benchmarking tools, to further the development of safe and adaptive in-vehicle agents.

Tasks on complex systems require high-precision numerical computation to support decisions, but current large language models (LLMs) cannot integrate such computations as an intrinsic and interpretable capability with existing architectures. Multi-agent approaches can leverage external experts, but inevitably introduce communication overhead and suffer from inefficiency caused by limited scalability. To this end, we propose Physically-isolated Experts Routing Network (PiERN), an architecture for integrating computation and reasoning. Instead of the tool-use workflows or function-calling, PiERN endogenously integrates computational capabilities into neural networks after separately training experts, a text-to-computation module, and a router. At inference, the router directs computation and reasoning at the token level, thereby enabling iterative alternation within a single chain of thought. We evaluate PiERN on representative linear and nonlinear computation-reasoning tasks against LLM finetuning and the multi-agent system approaches. Results show that the PiERN architecture achieves not only higher accuracy than directly finetuning LLMs but also significant improvements in response latency, token usage, and GPU energy consumption compared with mainstream multi-agent approaches. PiERN offers an efficient, interpretable, and scalable paradigm for interfacing language models with scientific systems.

Abstract-- We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UA Vs) with an unmanned ground vehicle (UGV) to achieve rapid victim localization and obstacle-aware navigation in unknown environments. In our framework, a goal-searching UA V executes real-time onboard victim detection and georeferencing to nominate goals for the ground platform, while a terrain-scouting UA V flies ahead of the UGV's planned route to provide mid-level traversability updates. The UGV fuses aerial cues with local sensing to perform time-efficient A* planning and continuous replanning as information arrives. Additionally, we present a hardware demonstration (using a GEM e6 golf cart as the UGV and two X500 UA Vs) to evaluate end-to-end SAR mission performance and include simulation ablations to assess the planning stack in isolation from detection. Empirical results demonstrate that explicit role separation across UA Vs, coupled with terrain scouting and guided planning, improves reach time and navigation safety in time-critical SAR missions. Search and rescue (SAR) operations stand to benefit from recent advances in autonomous aerial and ground robotics. Unmanned Aerial V ehicles (UA Vs) enable rapid, large-area coverage due to their agility and mobility. The adoption of drones across civilian and military applications has highlighted advantages in speed and perspective.

Abstract--Recent progress in robotics has underscored the demand for real-time control in applications such as manufacturing and healthcare systems, where the timely delivery of mission-critical commands under heterogeneous robotic traffic is paramount for operational efficacy and safety. In these scenarios, mission-critical traffic follows a strict deadline-constrained communication pattern: commands must arrive within defined deadlines, otherwise late arrivals can degrade performance or destabilize control loops. In this work, we demonstrate on a real-time software-defined radio (SDR) platform that CSMA, widely adopted in robotic communications, suffers severe degradation with contention-induced collisions and delays disrupting the on-time arrival of mission-critical packets. This degradation arises under a common robotic traffic pattern where non-critical traffic dominates the channel, while lightweight mission-critical commands must be delivered frequently with strict deadlines over the shared medium. T o address this, we propose an IEEE 802.11-compatible hybrid TDMA/CSMA protocol that combines TDMA's deterministic slot scheduling with CSMA's adaptability for heterogeneous robot traffic. The protocol achieves collision-free, low-latency mission-critical command delivery and IEEE 802.11 compatibility through the synergistic integration of sub-microsecond PTP-based slot synchronization, a three-section superframe with dynamic TDMA allocation for structured and adaptable traffic management, and beacon-NA V protection to preemptively secure critical communication applications from interference. Emulation experiments on a real-time SDR testbed show that the proposed protocol reduces missed-deadline errors by 93% compared to the CSMA baseline under a robotic traffic setup at an overall aggregate channel load of 77.1%, wherein 99.9% of the traffic is from non time-critical applications and 0.1% of the traffic is from deadline-constraint applications. In a high-speed robot path-tracking Robot Operating System (ROS) simulation, the protocol lowers root mean square trajectory error by up to 90% compared with the CSMA baseline, while maintaining throughput for non-critical traffic within 2%. Robotics has undergone remarkable advancements in recent years, playing critical roles in domains such as manufacturing [1], healthcare [2]-[4], and autonomous systems [5]. Multi-robot cooperation has emerged as a key enabler for complex robotic applications that require seamless coordination among multiple devices, such as collaborative assembly [6], warehouse automation [7], and search-and-rescue missions [8]. The work was partially supported by the Shen Zhen-Hong Kong-Macao technical program (Type C) under Grant No. SGDX20230821094359004. As the number of robots grows rapidly in a multi-robot system, communications between robots are becoming increasingly data-intensive.