Designing effective embodied multi-agent systems is critical for solving complex real-world tasks across domains. Due to the complexity of multi-agent embodied systems, existing methods fail to automatically generate safe and efficient training data for such systems. To this end, we propose the concept of compositional constraints for embodied multi-agent systems, addressing the challenges arising from collaboration among embodied agents. We design various interfaces tailored to different types of constraints, enabling seamless interaction with the physical world. Leveraging compositional constraints and specifically designed interfaces, we develop an automated data collection framework for embodied multi-agent systems and introduce the first benchmark for embodied multi-agent manipulation, RoboFactory. Based on RoboFactory benchmark, we adapt and evaluate the method of imitation learning and analyzed its performance in different difficulty agent tasks. Furthermore, we explore the architectures and training strategies for multi-agent imitation learning, aiming to build safe and efficient embodied multi-agent systems.

In the Industrial Internet of Things (IoT), a large amount of data will be generated every day. Due to privacy and security issues, it is difficult to collect all these data together to train deep learning models, thus the federated learning, a distributed machine learning paradigm that protects data privacy, has been widely used in IoT. However, in practical federated learning, the data distributions usually have large differences across devices, and the heterogeneity of data will deteriorate the performance of the model. Moreover, federated learning in IoT usually has a large number of devices involved in training, and the limited communication resource of cloud servers become a bottleneck for training. To address the above issues, in this paper, we combine centralized federated learning with decentralized federated learning to design a semi-decentralized cloud-edge-device hierarchical federated learning framework, which can mitigate the impact of data heterogeneity, and can be deployed at lage scale in IoT. To address the effect of data heterogeneity, we use an incremental subgradient optimization algorithm in each ring cluster to improve the generalization ability of the ring cluster models. Our extensive experiments show that our approach can effectively mitigate the impact of data heterogeneity and alleviate the communication bottleneck in cloud servers.