Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, obtaining up-to-date spatial and semantically rich representations that scale to dynamic large-scale environments remains challenging. In this work, we present CURB-OSG, an open-vocabulary dynamic 3D scene graph engine that generates hierarchical decompositions of urban driving scenes via multi-agent collaboration. By fusing the camera and LiDAR observations from multiple perceiving agents with unknown initial poses, our approach generates more accurate maps compared to a single agent while constructing a unified open-vocabulary semantic hierarchy of the scene. Unlike previous methods that rely on ground truth agent poses or are evaluated purely in simulation, CURB-OSG alleviates these constraints. We evaluate the capabilities of CURB-OSG on real-world multi-agent sensor data obtained from multiple sessions of the Oxford Radar RobotCar dataset. We demonstrate improved mapping and object prediction accuracy through multi-agent collaboration as well as evaluate the environment partitioning capabilities of the proposed approach. To foster further research, we release our code and supplementary material at https://ov-curb.cs.uni-freiburg.de.

Power indices are essential in assessing the contribution and influence of individual agents in multi-agent systems, providing crucial insights into collaborative dynamics and decision-making processes. While invaluable, traditional computational methods for exact or estimated power indices values require significant time and computational constraints, especially for large $(n\ge10)$ coalitions. These constraints have historically limited researchers' ability to analyse complex multi-agent interactions comprehensively. To address this limitation, we introduce a novel Neural Networks-based approach that efficiently estimates power indices for voting games, demonstrating comparable and often superiour performance to existing tools in terms of both speed and accuracy. This method not only addresses existing computational bottlenecks, but also enables rapid analysis of large coalitions, opening new avenues for multi-agent system research by overcoming previous computational limitations and providing researchers with a more accessible, scalable analytical tool.This increased efficiency will allow for the analysis of more complex and realistic multi-agent scenarios.

Long-form writing agents require flexible integration and interaction across information retrieval, reasoning, and composition. Current approaches rely on predetermined workflows and rigid thinking patterns to generate outlines before writing, resulting in constrained adaptability during writing. In this paper we propose a general agent framework that achieves human-like adaptive writing through recursive task decomposition and dynamic integration of three fundamental task types, i.e. retrieval, reasoning, and composition. Our methodology features: 1) a planning mechanism that interleaves recursive task decomposition and execution, eliminating artificial restrictions on writing workflow; and 2) integration of task types that facilitates heterogeneous task decomposition. Evaluations on both fiction writing and technical report generation show that our method consistently outperforms state-of-the-art approaches across all automatic evaluation metrics, which demonstrate the effectiveness and broad applicability of our proposed framework.

Advancing safe autonomous systems through reinforcement learning (RL) requires robust benchmarks to evaluate performance, analyze methods, and assess agent competencies. Humans primarily rely on embodied visual perception to safely navigate and interact with their surroundings, making it a valuable capability for RL agents. However, existing vision-based 3D benchmarks only consider simple navigation tasks. To address this shortcoming, we introduce \textbf{HASARD}, a suite of diverse and complex tasks to $\textbf{HA}$rness $\textbf{SA}$fe $\textbf{R}$L with $\textbf{D}$oom, requiring strategic decision-making, comprehending spatial relationships, and predicting the short-term future. HASARD features three difficulty levels and two action spaces. An empirical evaluation of popular baseline methods demonstrates the benchmark's complexity, unique challenges, and reward-cost trade-offs. Visualizing agent navigation during training with top-down heatmaps provides insight into a method's learning process. Incrementally training across difficulty levels offers an implicit learning curriculum. HASARD is the first safe RL benchmark to exclusively target egocentric vision-based learning, offering a cost-effective and insightful way to explore the potential and boundaries of current and future safe RL methods. The environments and baseline implementations are open-sourced at https://sites.google.com/view/hasard-bench/.

Traditional Reinforcement Learning (RL) suffers from replicating human-like behaviors, generalizing effectively in multi-agent scenarios, and overcoming inherent interpretability issues.These tasks are compounded when deep environment understanding, agent coordination and dynamic optimization are required. While Large Language Model (LLM) enhanced methods have shown promise in generalization and interoperability, they often neglect necessary multi-agent coordination. Therefore, we introduce the Cascading Cooperative Multi-agent (CCMA) framework, integrating RL for individual interactions, a fine-tuned LLM for regional cooperation, a reward function for global optimization, and the Retrieval-augmented Generation mechanism to dynamically optimize decision-making across complex driving scenarios. Our experiments demonstrate that the CCMA outperforms existing RL methods, demonstrating significant improvements in both micro and macro-level performance in complex driving environments.

LLM-based Multi-Agent Systems (MAS) have proven highly effective in solving complex problems by integrating multiple agents, each performing different roles. However, in sensitive domains, they face emerging privacy protection challenges. In this paper, we introduce the concept of Federated MAS, highlighting the fundamental differences between Federated MAS and traditional FL. We then identify key challenges in developing Federated MAS, including: 1) heterogeneous privacy protocols among agents, 2) structural differences in multi-party conversations, and 3) dynamic conversational network structures. To address these challenges, we propose Embedded Privacy-Enhancing Agents (EPEAgent), an innovative solution that integrates seamlessly into the Retrieval-Augmented Generation (RAG) phase and the context retrieval stage. This solution minimizes data flows, ensuring that only task-relevant, agent-specific information is shared. Additionally, we design and generate a comprehensive dataset to evaluate the proposed paradigm. Extensive experiments demonstrate that EPEAgent effectively enhances privacy protection while maintaining strong system performance. The code will be availiable at https://github.com/ZitongShi/EPEAgent

Large Language Model (LLM) Agents leverage the advanced reasoning capabilities of LLMs in real-world applications. To interface with an environment, these agents often rely on tools, such as web search or database APIs. As the agent provides the LLM with tool documentation along the user query, the completeness and correctness of this documentation is critical. However, tool documentation is often over-, under-, or ill-specified, impeding the agent's accuracy. Standard software testing approaches struggle to identify these errors as they are expressed in natural language. Thus, despite its importance, there currently exists no automated method to test the tool documentation for agents. To address this issue, we present ToolFuzz, the first method for automated testing of tool documentations. ToolFuzz is designed to discover two types of errors: (1) user queries leading to tool runtime errors and (2) user queries that lead to incorrect agent responses. ToolFuzz can generate a large and diverse set of natural inputs, effectively finding tool description errors at a low false positive rate. Further, we present two straightforward prompt-engineering approaches. We evaluate all three tool testing approaches on 32 common LangChain tools and 35 newly created custom tools and 2 novel benchmarks to further strengthen the assessment. We find that many publicly available tools suffer from underspecification. Specifically, we show that ToolFuzz identifies 20x more erroneous inputs compared to the prompt-engineering approaches, making it a key component for building reliable AI agents.

Rob Gramlich is founder and president of Grid Strategies and was economic advisor to the chairman of the Federal Energy Regulatory Commission during the George W. Bush administration. US electricity consumption is rising faster than it has in decades. Accommodating that growth will require building wind turbines, solar farms, and other power plants faster than we ever have before--and expanding the network of wires needed to connect those facilities to the grid. But one major problem is that it's expensive and slow to secure permits for new transmission lines and build them across the country. Fortunately, there are some shortcuts that could expand the capacity of the existing system without requiring completely new infrastructure: a suite of hardware and software tools known as advanced transmission technologies (ATTs), which can increase both the capacity and the efficiency of the power sector.

With the advancement of multi-robot technology, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration systems. First, we review the evolution of robotic exploration and introduce a modular research framework tailored for multi-robot cooperative exploration. Based on this framework, we systematically categorize and summarize key system components. As a foundational module for multi-robot exploration, the localization and mapping module is primarily introduced by focusing on global and relative pose estimation, as well as multi-robot map merging techniques. The cooperative motion module is further divided into learning-based approaches and multi-stage planning, with the latter encompassing target generation, task allocation, and motion planning strategies. Given the communication constraints of real-world environments, we also analyze the communication module, emphasizing how robots exchange information within local communication ranges and under limited transmission capabilities. Finally, we discuss the challenges and future research directions for multi-robot cooperative exploration in light of real-world trends. This review aims to serve as a valuable reference for researchers and practitioners in the field.

Solving mathematical problems using computer-verifiable languages like Lean has significantly impacted mathematical and computer science communities. State-of-the-art methods utilize single Large Language Models (LLMs) as agents or provers to either generate complete proof or perform tree searches. However, single-agent methods inherently lack a structured way to combine high-level reasoning in Natural Language (NL) with Formal Language (FL) verification feedback. To solve these issues, we propose MA-LoT: Multi-Agent Lean-based Long Chain-of-Thought framework, (to the best of our knowledge), the first multi-agent framework for Lean4 theorem proving that balance high-level NL reasoning and FL verification in Long CoT. Using this structured interaction, our approach enables deeper insights and long-term coherence in proof generation, with which past methods struggle. We do this by leveraging emergent formal reasoning ability in Long CoT using our novel LoT-Transfer Learning training-inference pipeline. Extensive experiments show that our framework achieves a 61.07% accuracy rate on the Lean4 version of the MiniF2F-Test dataset, largely outperforming GPT-4 (22.95%), single-agent tree search (InternLM-Step-Prover, 50.70%), and whole-proof generation (Godel-Prover, 55.33%) baselines. Furthermore, our findings highlight the potential of combining Long CoT with formal verification for a more insightful generation in a broader perspective.