Potential games are arguably one of the most important and widely studied classes of normal form games. They define the archetypal setting of multi-agent coordination as all agent utilities are perfectly aligned with each other via a common potential function. Can this intuitive framework be transplanted in the setting of Markov Games? What are the similarities and differences between multi-agent coordination with and without state dependence? We present a novel definition of Markov Potential Games (MPG) that generalizes prior attempts at capturing complex stateful multi-agent coordination. Counter-intuitively, insights from normal-form potential games do not carry over as MPGs can consist of settings where state-games can be zero-sum games. In the opposite direction, Markov games where every state-game is a potential game are not necessarily MPGs. Nevertheless, MPGs showcase standard desirable properties such as the existence of deterministic Nash policies. In our main technical result, we prove fast convergence of independent policy gradient to Nash policies by adapting recent gradient dominance property arguments developed for single agent MDPs to multi-agent learning settings.

Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on permanent faults. One reason for this is that intermittent faults are prohibitively difficult to detect in the fully self-organized ad-hoc networks typical of robot swarms, as their network topologies are transient and often unpredictable. However, in the recently introduced self-organizing nervous systems (SoNS) approach, robot swarms are able to self-organize persistent network structures for the first time, easing the problem of detecting intermittent faults. To address intermittent faults in robot swarms that have persistent networks, we propose a novel proactive-reactive strategy to detection and mitigation, based on self-organized backup layers and distributed consensus in a multiplex network. Proactively, the robots self-organize dynamic backup paths before faults occur, adapting to changes in the primary network topology and the robots' relative positions. Reactively, robots use one-shot likelihood ratio tests to compare information received along different paths in the multiplex network, enabling early fault detection. Upon detection, communication is temporarily rerouted in a self-organized way, until the detected fault resolves. We validate the approach in representative scenarios of faulty positional data occurring during formation control, demonstrating that intermittent faults are prevented from disrupting convergence to desired formations, with high fault detection accuracy and low rates of false positives.

Proper initialization is crucial for any system, particularly in multi-agent systems (MAS), where it plays a pivotal role in determining both the system's efficiency and effectiveness. However, existing MAS initialization methods do not fully account for the collaborative needs of the generated agents in subsequent stages. Inspired by the principles of effective team composition, we propose AgentInit, which aims to optimize the structure of agent teams. Specifically, in addition to multi-round interactions and reflections between agents during agent generation, AgentInit incorporates a Natural Language to Format mechanism to ensure consistency and standardization. Balanced team selection strategies using Pareto principles are subsequently applied to jointly consider agent team diversity and task relevance to promote effective and efficient collaboration and enhance overall system performance. Experiments show that AgentInit consistently outperforms state-of-the-art initialization methods and pre-defined strategies across various frameworks and tasks, achieving an overall performance improvement of up to 1.2 and 1.6, respectively, while also significantly reducing token consumption. Further analysis confirms its strong transferability to similar tasks and verifies the effectiveness of its key components, demonstrating its capability and adaptability as a reliable MAS initialization method. Source code and models are available at https://github.com/1737423697/AgentInit.

Personal use of this material is permitted. Abstract-- In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach increases robustness against local minima and promotes effective exploration of the solution space. We show that our approach naturally extends to multi-robot collision-free planning, enables agents to share diverse candidate policies to avoid deadlocks, and allows teams to minimize a global objective without incurring the computational complexity of centralized optimization. Numerical simulations demonstrate that employing multiple modes significantly improves success rates in trap environments and in multi-robot collision avoidance. Local minima pose a fundamental challenge for finite-horizon, gradient-based planning approaches.

The Agent Directory Service (ADS) is a distributed directory for the discovery of AI agent capabilities, metadata, and provenance. It leverages content-addressed storage, hierarchical taxonomies, and cryptographic signing to enable efficient, verifiable, and multi-dimensional discovery across heterogeneous Multi-Agent Systems (MAS). Built on the Open Agentic Schema Framework (OASF), ADS decouples capability indexing from content location through a two-level mapping realized over a Kademlia-based Distributed Hash Table (DHT). It reuses mature OCI / ORAS infrastructure for artifact distribution, integrates Sigstore for provenance, and supports schema-driven extensibility for emerging agent modalities (LLM prompt agents, MCP servers, A2A-enabled components). This paper formalizes the architectural model, describes storage and discovery layers, explains security and performance properties, and positions ADS within the broader landscape of emerging agent registry and interoperability initiatives.

The exponential growth of scientific literature poses unprecedented challenges for researchers attempting to synthesize knowledge across rapidly evolving fields. We present \textbf{Agentic AutoSurvey}, a multi-agent framework for automated survey generation that addresses fundamental limitations in existing approaches. Our system employs four specialized agents (Paper Search Specialist, Topic Mining \& Clustering, Academic Survey Writer, and Quality Evaluator) working in concert to generate comprehensive literature surveys with superior synthesis quality. Through experiments on six representative LLM research topics from COLM 2024 categories, we demonstrate that our multi-agent approach achieves significant improvements over existing baselines, scoring 8.18/10 compared to AutoSurvey's 4.77/10. The multi-agent architecture processes 75--443 papers per topic (847 total across six topics) while targeting high citation coverage (often $\geq$80\% on 75--100-paper sets; lower on very large sets such as RLHF) through specialized agent orchestration. Our 12-dimension evaluation captures organization, synthesis integration, and critical analysis beyond basic metrics. These findings demonstrate that multi-agent architectures represent a meaningful advancement for automated literature survey generation in rapidly evolving scientific domains.

Abstract--Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. T o address this challenge, this paper proposes a formation planning method guided by De-formable Virtual Structures (DVS) with continuous spatiotemporal transformation. Firstly, to satisfy swarm safety distance and preserve formation shape filling integrity for irregular formation geometries, we employ Lloyd algorithm for uniform PA rtitioning and Hungarian algorithm for AS signment (PAAS) in DVS. Subsequently, a spatiotemporal trajectory involving DVS is planned using primitive-based path search and nonlinear trajectory optimization. The DVS trajectory achieves adaptive transitions with respect to a varying number of drones while ensuring adaptability to narrow environments through affine transformation. Finally, each agent conducts distributed trajectory planning guided by desired spatiotemporal positions within the DVS, while incorporating collision avoidance and dynamic feasibility requirements. Our method enables up to 15% of swarm numbers to join or leave in cluttered environments while rapidly restoring the desired formation shape in simulation. Compared to cutting-edge formation planning method, we demonstrate rapid formation recovery capacity and environmental adaptability. In recent years, formation flight becomes the foundation requirement for aerial swarms in practical applications, such as collaborative exploration [1], light show [2], search and rescue [3]. For large-scale swarms [4], [5], formation inevitably encounters agent loss in narrow environments [6]- [8].

CDI also offers a plausible approach for automatically making sense of competing arguments in a way that accords with the features enumerated here. This paper is part of an argument that it is now feasible to computationally instantiate a reasonable approximation of a coherence theory of truth [64]: the recent benchmark [12] provides additional quantitative evidence in this direction. By "hard-coding" acceptance of conclusively established propositions, this theory can furthermore be anchored in a correspondence theory of truth [65]. In other words, coherence computations can be required to incorporate privileged information that also coheres with observed reality. While it is easy to imagine attempts to try the same thing with privileged information that does not cohere with observed reality, lies cannot persist when they can easily be unraveled. Even with flawless technology (which this will not be), obstacles will be manifold. For example, in a pluralistic society, legal coherence may actually require sacrificing fairness in some ways [66]. Ultimately, people must decide matters for themselves. It is only reasonable to hope that technology can serve as a reliable tool to help people make their decisions more coherent.

Large language models (LLMs) can compile weighted graphs on natural language data to enable automatic coherence-driven inference (CDI) relevant to red and blue team operations in cybersecurity. This represents an early application of automatic CDI that holds near- to medium-term promise for decision-making in cybersecurity and eventually also for autonomous blue team operations.

The proliferation of autonomous software agents necessitates rigorous frameworks for establishing secure and verifiable agent-to-agent (A2A) interactions, particularly when such agents are instantiated as non-human identities(NHIs). We extend the A2A paradigm [1 , 2] by introducing a cryptographically grounded mechanism for lineage verification, wherein the provenance and evolution of NHIs are anchored in append-only Merkle tree structures modeled after Certificate Transparency (CT) logs. Unlike traditional A2A models that primarily secure point-to-point interactions, our approach enables both agents and external verifiers to cryptographically validate multi-hop provenance, thereby ensuring the integrity of the entire call chain. A federated proof server acts as an auditor across one or more Merkle logs, aggregating inclusion proofs and consistency checks into compact, signed attestations that external parties can verify without access to the full execution trace. In parallel, we augment the A2A agent card to incorporate explicit identity verification primitives, enabling both peer agents and human approvers to authenticate the legitimacy of NHI representations in a standardized manner. Together, these contributions establish a cohesive model that integrates identity attestation, lineage verification, and independent proof auditing, thereby advancing the security posture of inter-agent ecosystems and providing a foundation for robust governance of NHIs in regulated environments such as FedRAMP.