To address these issues, we propose a self-supervised intrinsic reward ELIGN - expectation alignment - inspired by the self-organization principle in Zoology.

In this paper, we fill in this gap by considering two settings.

NCREASING use of robotic systems in real-world applications necessitates advanced controllers that ensure safety, robustness, and effectiveness in human-machine teaming [1]. This letter formalizes and builds upon our recent work on online safety verification and control [2], which introduces gatekeeper as a novel algorithmic component between the planner and the controller of the autonomous system. To briefly illustrate the principle behind gatekeeper, consider a Unmanned Aerial V ehicle (UA V) navigating an unknown environment. The UA V follows a nominal trajectory, generated by its planner and tracked by its controller. At each iteration, gatekeeper performs two key steps: (i) it evaluates the currently known safe set (derived from onboard sensing), and a backup set, which represents a region the UA V can retreat to if the nominal trajectory is predicted to exit the safe set in the future; (ii) it constructs a candidate trajectory by stitching together the nominal trajectory (up to a future time horizon) and a backup trajectory that leads safely into the backup set. The authors would like to acknowledge the support of the National Science Foundation (NSF) under grant no.

In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example. Keywords: Bearing-based formation, distributed observer, multi-agent systems, Euler-Lagrange system1.

Regulatory compliance question answering (QA) requires precise, verifiable information, and domain-specific expertise, posing challenges for Large Language Models (LLMs). In this work, we present a novel multi-agent framework that integrates a Knowledge Graph (KG) of Regulatory triplets with Retrieval-Augmented Generation (RAG) to address these demands. First, agents build and maintain an ontology-free KG by extracting subject--predicate--object (SPO) triplets from regulatory documents and systematically cleaning, normalizing, deduplicating, and updating them. Second, these triplets are embedded and stored along with their corresponding textual sections and metadata in a single enriched vector database, allowing for both graph-based reasoning and efficient information retrieval. Third, an orchestrated agent pipeline leverages triplet-level retrieval for question answering, ensuring high semantic alignment between user queries and the factual "who-did-what-to-whom" core captured by the graph. Our hybrid system outperforms conventional methods in complex regulatory queries, ensuring factual correctness with embedded triplets, enabling traceability through a unified vector database, and enhancing understanding through subgraph visualization, providing a robust foundation for compliance-driven and broader audit-focused applications.

This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation with an online multi-stage object inertial parameter estimation module, which is the core technical contribution of this work. The multi-stage process sequentially integrates a vision-based object size estimator, an initial parameter guess generated by a large vision-language model (VLM), and a decoupled hierarchical sampling strategy. The visual size estimate and VLM prior offer a strong initial guess of the object's inertial parameters, significantly reducing the search space for sampling-based refinement and improving the overall estimation speed. A hierarchical strategy first estimates mass and center of mass, then infers inertia from object size to ensure physically feasible parameters, while a decoupled multi-hypothesis scheme enhances robustness to VLM prior errors. Our estimator operates in parallel with high-fidelity simulation and hardware, enabling real-time online updates. The estimated parameters are then used to update the wheeled humanoid's equilibrium point, allowing the operator to focus more on locomotion and manipulation. This integration improves the haptic force feedback for dynamic synchronization, enabling more dynamic whole-body teleoperation. By compensating for object dynamics using the estimated parameters, the framework also improves manipulation tracking while preserving compliant behavior. We validate the system on a customized wheeled humanoid with a robotic gripper and human-machine interface, demonstrating real-time execution of lifting, delivering, and releasing tasks with a payload weighing approximately one-third of the robot's body weight.

We propose an extension to the OW ASP Multi-Agentic System (MAS) Threat Modeling Guide, translating recent anticipatory research in multi-agent security (MASEC) into practical guidance for addressing challenges unique to large language model (LLM)-driven multi-agent architectures. Although OW ASP's existing taxonomy covers many attack vectors, our analysis identifies gaps in modeling failures, including, but not limited to: reasoning collapse across planner-executor chains, metric overfitting, unsafe delegation escalation, emergent covert coordination, and heterogeneous multi-agent exploits. We introduce additional threat classes and scenarios grounded in practical MAS deployments, highlighting risks from benign goal drift, cross-agent hallucination propagation, affective prompt framing, and multi-agent backdoors. We also outline evaluation strategies, including robustness testing, coordination assessment, safety enforcement, and emergent behavior monitoring, to ensure complete coverage. This work complements the framework of OW ASP by expanding its applicability to increasingly complex, autonomous, and adaptive multi-agent systems, with the goal of improving security posture and resilience in real world deployments.

Logics for reasoning about knowledge and actions have seen many applications in various domains of multi-agent systems, including epistemic planning. Change of knowledge based on observations about the surroundings forms a key aspect in such planning scenarios. Public Observation Logic (POL) is a variant of public announcement logic for reasoning about knowledge that gets updated based on public observations. Each state in an epistemic (Kripke) model is equipped with a set of expected observations. These states evolve as the expectations get matched with the actual observations. In this work, we prove that the satisfiability problem of $\POL$ is 2EXPTIME-complete.