Generative AI can help small business owners automate tasks, increase efficiency, and improve their bottom line. However, despite the seemingly intuitive design of systems like ChatGPT, significant barriers remain for those less comfortable with technology. To address these disparities, prior work highlights accessory skills -- beyond prompt engineering -- users must master to successfully adopt generative AI including keyboard shortcuts, editing skills, file conversions, and browser literacy. Building on a design workshop series and 15 interviews with small businesses, we introduce BizChat, a large language model (LLM)-powered web application that helps business owners across digital skills levels write their business plan -- an essential but often neglected document. To do so, BizChat's interface embodies three design considerations inspired by learning sciences: ensuring accessibility to users with less digital skills while maintaining extensibility to power users ("low-floor-high-ceiling"), providing in situ micro-learning to support entrepreneurial education ("just-in-time learning"), and framing interaction around business activities ("contextualized technology introduction"). We conclude with plans for a future BizChat deployment.
PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan availability. Although a few neurosymbolic frameworks have previously leveraged LLMs such as GPT-3 to address these challenges, reliance on closed-source, remote models with limited context introduced critical constraints: third-party dependency, inconsistent response times, restricted plan length and complexity, and multi-domain scalability issues. We present Gideon, a novel framework that enables the transition to modern, smaller, local LLMs with extended context length. Gideon integrates a novel problem generator to systematically generate large-scale datasets of realistic domain-problem-plan tuples for any domain, and adapts neurosymbolic planning for local LLMs, enabling on-device execution and extended context for multi-domain support. Preliminary experiments in single-domain scenarios performed on Qwen-2.5 1.5B and trained on 8k-32k samples, demonstrate a valid plan percentage of 66.1% (32k model) and show that the figure can be further scaled through additional data. Multi-domain tests on 16k samples yield an even higher 70.6% planning validity rate, proving extensibility across domains and signaling that data variety can have a positive effect on learning efficiency. Although long-horizon planning and reduced model size make Gideon training much less efficient than baseline models based on larger LLMs, the results are still significant considering that the trained model is about 120x smaller than baseline and that significant advantages can be achieved in inference efficiency, scalability, and multi-domain adaptability, all critical factors in human-robot collaboration. Training inefficiency can be mitigated by Gideon's streamlined data generation pipeline.
Efficiently modeling and exploiting opponents is a long-standing challenge in adversarial domains. Large Language Models (LLMs) trained on extensive textual data have recently demonstrated outstanding performance in general tasks, introducing new research directions for opponent modeling. Some studies primarily focus on directly using LLMs to generate decisions based on the elaborate prompt context that incorporates opponent descriptions, while these approaches are limited to scenarios where LLMs possess adequate domain expertise. To address that, we introduce a two-stage Strategy-Augmented Planning (SAP) framework that significantly enhances the opponent exploitation capabilities of LLM-based agents by utilizing a critical component, the Strategy Evaluation Network (SEN). Specifically, in the offline stage, we construct an explicit strategy space and subsequently collect strategy-outcome pair data for training the SEN network. During the online phase, SAP dynamically recognizes the opponent's strategies and greedily exploits them by searching best response strategy on the well-trained SEN, finally translating strategy to a course of actions by carefully designed prompts. Experimental results show that SAP exhibits robust generalization capabilities, allowing it to perform effectively not only against previously encountered opponent strategies but also against novel, unseen strategies. In the MicroRTS environment, SAP achieves a 85.35\% performance improvement over baseline methods and matches the competitiveness of reinforcement learning approaches against state-of-the-art (SOTA) rule-based AI.
The remote embodied referring expression (REVERIE) task requires an agent to navigate through complex indoor environments and localize a remote object specified by high-level instructions, such as "bring me a spoon", without pre-exploration. Hence, an efficient navigation plan is essential for the final success. This paper proposes a novel parameter-efficient action planner using large language models (PEAP-LLM) to generate a single-step instruction at each location. The proposed model consists of two modules, LLM goal planner (LGP) and LoRA action planner (LAP). Initially, LGP extracts the goal-oriented plan from REVERIE instructions, including the target object and room. Then, LAP generates a single-step instruction with the goal-oriented plan, high-level instruction, and current visual observation as input. PEAP-LLM enables the embodied agent to interact with LAP as the path planner on the fly. A simple direct application of LLMs hardly achieves good performance. Also, existing hard-prompt-based methods are error-prone in complicated scenarios and need human intervention. To address these issues and prevent the LLM from generating hallucinations and biased information, we propose a novel two-stage method for fine-tuning the LLM, consisting of supervised fine-tuning (STF) and direct preference optimization (DPO). SFT improves the quality of generated instructions, while DPO utilizes environmental feedback. Experimental results show the superiority of our proposed model on REVERIE compared to the previous state-of-the-art.
We present UAV-CodeAgents, a scalable multi-agent framework for autonomous UAV mission generation, built on large language and vision-language models (LLMs/VLMs). The system leverages the ReAct (Reason + Act) paradigm to interpret satellite imagery, ground high-level natural language instructions, and collaboratively generate UAV trajectories with minimal human supervision. A core component is a vision-grounded, pixel-pointing mechanism that enables precise localization of semantic targets on aerial maps. To support real-time adaptability, we introduce a reactive thinking loop, allowing agents to iteratively reflect on observations, revise mission goals, and coordinate dynamically in evolving environments. UAV-CodeAgents is evaluated on large-scale mission scenarios involving industrial and environmental fire detection. Our results show that a lower decoding temperature (0.5) yields higher planning reliability and reduced execution time, with an average mission creation time of 96.96 seconds and a success rate of 93%. We further fine-tune Qwen2.5VL-7B on 9,000 annotated satellite images, achieving strong spatial grounding across diverse visual categories. To foster reproducibility and future research, we will release the full codebase and a novel benchmark dataset for vision-language-based UAV planning.
Automated penetration testing (AutoPT) powered by large language models (LLMs) has gained attention for its ability to automate ethical hacking processes and identify vulnerabilities in target systems by leveraging the intrinsic knowledge of LLMs. However, existing LLM-based AutoPT frameworks often underperform compared to human experts in challenging tasks for several reasons: the imbalanced knowledge used in LLM training, short-sighted planning in the planning process, and hallucinations during command generation. In addition, the penetration testing (PT) process, with its trial-and-error nature, is limited by existing frameworks that lack mechanisms to learn from previous failed operations, restricting adaptive improvement of PT strategies. To address these limitations, we propose a knowledge-informed self-reflective PT framework powered by LLMs, called RefPentester, which is an AutoPT framework designed to assist human operators in identifying the current stage of the PT process, selecting appropriate tactic and technique for the stage, choosing suggested action, providing step-by-step operational guidance, and learning from previous failed operations. We also modeled the PT process as a seven-state Stage Machine to integrate the proposed framework effectively. The evaluation shows that RefPentester can successfully reveal credentials on Hack The Box's Sau machine, outperforming the baseline GPT-4o model by 16.7\%. Across PT stages, RefPentester also demonstrates superior success rates on PT stage transitions.
Retrosynthesis, the process of breaking down a target molecule into simpler precursors through a series of valid reactions, stands at the core of organic chemistry and drug development. Although recent machine learning (ML) research has advanced single-step retrosynthetic modeling and subsequent route searches, these solutions remain restricted by the extensive combinatorial space of possible pathways. Concurrently, large language models (LLMs) have exhibited remarkable chemical knowledge, hinting at their potential to tackle complex decision-making tasks in chemistry. In this work, we explore whether LLMs can successfully navigate the highly constrained, multi-step retrosynthesis planning problem. We introduce an efficient scheme for encoding reaction pathways and present a new route-level search strategy, moving beyond the conventional step-by-step reactant prediction. Through comprehensive evaluations, we show that our LLM-augmented approach excels at retrosynthesis planning and extends naturally to the broader challenge of synthesizable molecular design.
Emotional support conversation (ESC) aims to alleviate the emotional distress of individuals through effective conversations. Although large language models (LLMs) have obtained remarkable progress on ESC, most of these studies might not define the diagram from the state model perspective, therefore providing a suboptimal solution for long-term satisfaction. To address such an issue, we leverage the Q-learning on LLMs, and propose a framework called straQ*. Our framework allows a plug-and-play LLM to bootstrap the planning during ESC, determine the optimal strategy based on long-term returns, and finally guide the LLM to response. Substantial experiments on ESC datasets suggest that straQ* outperforms many baselines, including direct inference, self-refine, chain of thought, finetuning, and finite state machines.
With the widespread application of large AI models in various fields, the automation level of multi-agent systems has been continuously improved. However, in high-risk decision-making scenarios such as healthcare and finance, human participation and the alignment of intelligent systems with human intentions remain crucial. This paper focuses on the financial scenario and constructs a multi-agent brainstorming framework based on the BDI theory. A human-computer collaborative multi-agent financial analysis process is built using Streamlit. The system plans tasks according to user intentions, reduces users' cognitive load through real-time updated structured text summaries and the interactive Cothinker module, and reasonably integrates general and reasoning large models to enhance the ability to handle complex problems. By designing a quantitative analysis algorithm for the sentiment tendency of interview content based on LLMs and a method for evaluating the diversity of ideas generated by LLMs in brainstorming based on k-means clustering and information entropy, the system is comprehensively evaluated. The results of human factors testing show that the system performs well in terms of usability and user experience. Although there is still room for improvement, it can effectively support users in completing complex financial tasks. The research shows that the system significantly improves the efficiency of human-computer interaction and the quality of decision-making in financial decision-making scenarios, providing a new direction for the development of related fields.
Current hardware security verification processes predominantly rely on manual threat modeling and test plan generation, which are labor-intensive, error-prone, and struggle to scale with increasing design complexity and evolving attack methodologies. To address these challenges, we propose ThreatLens, an LLM-driven multi-agent framework that automates security threat modeling and test plan generation for hardware security verification. ThreatLens integrates retrieval-augmented generation (RAG) to extract relevant security knowledge, LLM-powered reasoning for threat assessment, and interactive user feedback to ensure the generation of practical test plans. By automating these processes, the framework reduces the manual verification effort, enhances coverage, and ensures a structured, adaptable approach to security verification. We evaluated our framework on the NEORV32 SoC, demonstrating its capability to automate security verification through structured test plans and validating its effectiveness in real-world scenarios.
Due to time constraints, mental health professionals in China are unable to offer patients prolonged talk therapy, leaving a gap in care for patients with psychological disorders, including aberrant sleep and eating patterns, maladaptive explanatory styles, and gastrointestinal dysfunction. To bridge this gap in care and address these problems in a large-scale manner, we built NeuroPal, a large language model (LLM)-assistant that provides scalable, evidence-based interventions with three clinically validated modules: (1) a sleep chronotherapy planner to output personalized circadian rhythm correction protocols, (2) a cognitive-behavioral reframing engine grounded in CBT and humanistic principles to shift negative attributional biases, and (3) a biochemical regulation advisor to output phytotherapy formulations to regulate sleep-metabolism-gut-axis imbalances. In collaboration with Peking Union Medical College Hospital and Xiangya Hospital Central South University, we ran an RCT protocol with 513 participants with mood/anxiety disorders and showed statistically significant improvements towards primary endpoints (> p<.01). Experiment shows 37.2% drop in the Pittsburgh Sleep Quality Index (PSQI), 28.6% rise in positive affective word usages (LIWC analysis), and 23.4% improvement in patient-reported digestive comfort. The assistant also reached 89.1% adherence rates, significantly higher than the human-guided therapy intervention (72.3%) in matched controls. Our results indicate that an LLM-driven multimodal intervention is able to successfully bridge time-constrained clinical practice while preserving therapeutic effectiveness. For next steps, we plan to explore longitudinal outcome tracking and FDA/CFDA certification routes.
Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized decision-makers for multi-robot formation control. However, prior studies reveal that directly applying LLMs to such tasks often leads to unstable and inconsistent behaviors, where robots may collapse to the centroid of their positions or diverge entirely due to hallucinated reasoning, logical inconsistencies, and limited coordination awareness. To overcome these limitations, we propose a novel framework that integrates LLMs with an influence-based plan consensus protocol. In this framework, each robot independently generates a local plan toward the desired formation using its own LLM. The robots then iteratively refine their plans through a decentralized consensus protocol that accounts for their influence on neighboring robots. This process drives the system toward a coherent and stable flocking formation in a fully decentralized manner. We evaluate our approach through comprehensive simulations involving both state-of-the-art closed-source LLMs (e.g., o3-mini, Claude 3.5) and open-source models (e.g., Llama3.1-405b, Qwen-Max, DeepSeek-R1). The results show notable improvements in stability, convergence, and adaptability over previous LLM-based methods. We further validate our framework on a physical team of Crazyflie drones, demonstrating its practical viability and effectiveness in real-world multi-robot systems.
Retouching is an essential task in post-manipulation of raw photographs. Generative editing, guided by text or strokes, provides a new tool accessible to users but can easily change the identity of the original objects in unacceptable and unpredictable ways. In contrast, although traditional procedural edits, as commonly supported by photoediting tools (e.g., Gimp, Lightroom), are conservative, they are still preferred by professionals. Unfortunately, professional quality retouching involves many individual procedural editing operations that is challenging to plan for most novices. In this paper, we ask if a multimodal large language model (MLLM) can be taught to critique raw photographs, suggest suitable remedies, and finally realize them with a given set of pre-authored procedural image operations. We demonstrate that MLLMs can be first made aware of the underlying image processing operations, by training them to solve specially designed visual puzzles. Subsequently, such an operation-aware MLLM can both plan and propose edit sequences. To facilitate training, given a set of expert-edited photos, we synthesize a reasoning dataset by procedurally manipulating the expert edits and then grounding a pretrained LLM on the visual adjustments, to synthesize reasoning for finetuning. The proposed retouching operations are, by construction, understandable by the users, preserve object details and resolution, and can be optionally overridden. We evaluate our setup on a variety of test examples and show advantages, in terms of explainability and identity preservation, over existing generative and other procedural alternatives. Code, data, models, and supplementary results can be found via our project website at https://monetgpt.github.io.
We introduce ELA-ZSON, an efficient layout-aware zero-shot object navigation (ZSON) approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global topologigal map with layout information and local imperative approach with detailed scene representation memory, ELA-ZSON achieves both efficient and effective navigation. The process is managed by an LLM-powered agent, ensuring seamless effective planning and navigation, without the need for human interaction, complex rewards, or costly training. Our experimental results on the MP3D benchmark achieves 85\% object navigation success rate (SR) and 79\% success rate weighted by path length (SPL) (over 40\% point improvement in SR and 60\% improvement in SPL compared to exsisting methods). Furthermore, we validate the robustness of our approach through virtual agent and real-world robotic deployment, showcasing its capability in practical scenarios. See https://anonymous.4open.science/r/ELA-ZSON-C67E/ for details.
The strong planning and reasoning capabilities of Large Language Models (LLMs) have fostered the development of agent-based systems capable of leveraging external tools and interacting with increasingly complex environments. However, these powerful features also introduce a critical security risk: indirect prompt injection, a sophisticated attack vector that compromises the core of these agents, the LLM, by manipulating contextual information rather than direct user prompts. In this work, we propose a generic black-box fuzzing framework, AgentXploit, designed to automatically discover and exploit indirect prompt injection vulnerabilities across diverse LLM agents. Our approach starts by constructing a high-quality initial seed corpus, then employs a seed selection algorithm based on Monte Carlo Tree Search (MCTS) to iteratively refine inputs, thereby maximizing the likelihood of uncovering agent weaknesses. We evaluate AgentXploit on two public benchmarks, AgentDojo and VWA-adv, where it achieves 71% and 70% success rates against agents based on o3-mini and GPT-4o, respectively, nearly doubling the performance of baseline attacks. Moreover, AgentXploit exhibits strong transferability across unseen tasks and internal LLMs, as well as promising results against defenses. Beyond benchmark evaluations, we apply our attacks in real-world environments, successfully misleading agents to navigate to arbitrary URLs, including malicious sites.
Large language models (LLMs) have recently demonstrated success in generalizing across decision-making tasks including planning, control and prediction, but their tendency to hallucinate unsafe and undesired outputs poses risks. We argue that detecting such failures is necessary, especially in safety-critical scenarios. Existing black-box methods often detect hallucinations by identifying inconsistencies across multiple samples. Many of these approaches typically introduce prompt perturbations like randomizing detail order or generating adversarial inputs, with the intuition that a confident model should produce stable outputs. We first perform a manual case study showing that other forms of perturbations (e.g., adding noise, removing sensor details) cause LLMs to hallucinate in a driving environment. We then propose a novel method for efficiently searching the space of prompt perturbations using Adaptive Stress Testing (AST) with Monte-Carlo Tree Search (MCTS). Our AST formulation enables discovery of scenarios and prompts that cause language models to act with high uncertainty. By generating MCTS prompt perturbation trees across diverse scenarios, we show that offline analyses can be used at runtime to automatically generate prompts that influence model uncertainty, and to inform real-time trust assessments of an LLM.
Aerial vision-and-language navigation (VLN), requiring drones to interpret natural language instructions and navigate complex urban environments, emerges as a critical embodied AI challenge that bridges human-robot interaction, 3D spatial reasoning, and real-world deployment. Although existing ground VLN agents achieved notable results in indoor and outdoor settings, they struggle in aerial VLN due to the absence of predefined navigation graphs and the exponentially expanding action space in long-horizon exploration. In this work, we propose \textbf{CityNavAgent}, a large language model (LLM)-empowered agent that significantly reduces the navigation complexity for urban aerial VLN. Specifically, we design a hierarchical semantic planning module (HSPM) that decomposes the long-horizon task into sub-goals with different semantic levels. The agent reaches the target progressively by achieving sub-goals with different capacities of the LLM. Additionally, a global memory module storing historical trajectories into a topological graph is developed to simplify navigation for visited targets. Extensive benchmark experiments show that our method achieves state-of-the-art performance with significant improvement. Further experiments demonstrate the effectiveness of different modules of CityNavAgent for aerial VLN in continuous city environments. The code is available at \href{https://github.com/VinceOuti/CityNavAgent}{link}.
Cloud-based mobile agents powered by (multimodal) large language models ((M)LLMs) offer strong reasoning abilities but suffer from high latency and cost. While fine-tuned (M)SLMs enable edge deployment, they often lose general capabilities and struggle with complex tasks. To address this, we propose \textbf{EcoAgent}, an \textbf{E}dge-\textbf{C}loud c\textbf{O}llaborative multi-agent framework for mobile automation. EcoAgent features a closed-loop collaboration among a cloud-based Planning Agent and two edge-based agents: the Execution Agent for action execution and the Observation Agent for verifying outcomes. The Observation Agent uses a Pre-Understanding Module to compress screen images into concise text, reducing token usage and communication overhead. In case of failure, the Planning Agent retrieves screen history through a Memory Module and replans via a Reflection Module. Experiments on AndroidWorld show that EcoAgent achieves task success rates comparable to cloud-based mobile agents while significantly reducing MLLM token consumption, enabling efficient and practical mobile automation.
We present DSDrive, a streamlined end-to-end paradigm tailored for integrating the reasoning and planning of autonomous vehicles into a unified framework. DSDrive leverages a compact LLM that employs a distillation method to preserve the enhanced reasoning capabilities of a larger-sized vision language model (VLM). To effectively align the reasoning and planning tasks, a waypoint-driven dual-head coordination module is further developed, which synchronizes dataset structures, optimization objectives, and the learning process. By integrating these tasks into a unified framework, DSDrive anchors on the planning results while incorporating detailed reasoning insights, thereby enhancing the interpretability and reliability of the end-to-end pipeline. DSDrive has been thoroughly tested in closed-loop simulations, where it performs on par with benchmark models and even outperforms in many key metrics, all while being more compact in size. Additionally, the computational efficiency of DSDrive (as reflected in its time and memory requirements during inference) has been significantly enhanced. Evidently thus, this work brings promising aspects and underscores the potential of lightweight systems in delivering interpretable and efficient solutions for AD.
Trajectory data, which capture the movement patterns of people and vehicles over time and space, are crucial for applications like traffic optimization and urban planning. However, issues such as noise and incompleteness often compromise data quality, leading to inaccurate trajectory analyses and limiting the potential of these applications. While Trajectory Data Preparation (TDP) can enhance data quality, existing methods suffer from two key limitations: (i) they do not address data privacy concerns, particularly in federated settings where trajectory data sharing is prohibited, and (ii) they typically design task-specific models that lack generalizability across diverse TDP scenarios. To overcome these challenges, we propose FedTDP, a privacy-preserving and unified framework that leverages the capabilities of Large Language Models (LLMs) for TDP in federated environments. Specifically, we: (i) design a trajectory privacy autoencoder to secure data transmission and protect privacy, (ii) introduce a trajectory knowledge enhancer to improve model learning of TDP-related knowledge, enabling the development of TDP-oriented LLMs, and (iii) propose federated parallel optimization to enhance training efficiency by reducing data transmission and enabling parallel model training. Experiments on 6 real datasets and 10 mainstream TDP tasks demonstrate that FedTDP consistently outperforms 13 state-of-the-art baselines.
Reasoning lies at the heart of intelligence, shaping the ability to make decisions, draw conclusions, and generalize across domains. In artificial intelligence, as systems increasingly operate in open, uncertain, and multimodal environments, reasoning becomes essential for enabling robust and adaptive behavior. Large Multimodal Reasoning Models (LMRMs) have emerged as a promising paradigm, integrating modalities such as text, images, audio, and video to support complex reasoning capabilities and aiming to achieve comprehensive perception, precise understanding, and deep reasoning. As research advances, multimodal reasoning has rapidly evolved from modular, perception-driven pipelines to unified, language-centric frameworks that offer more coherent cross-modal understanding. While instruction tuning and reinforcement learning have improved model reasoning, significant challenges remain in omni-modal generalization, reasoning depth, and agentic behavior. To address these issues, we present a comprehensive and structured survey of multimodal reasoning research, organized around a four-stage developmental roadmap that reflects the field's shifting design philosophies and emerging capabilities. First, we review early efforts based on task-specific modules, where reasoning was implicitly embedded across stages of representation, alignment, and fusion. Next, we examine recent approaches that unify reasoning into multimodal LLMs, with advances such as Multimodal Chain-of-Thought (MCoT) and multimodal reinforcement learning enabling richer and more structured reasoning chains. Finally, drawing on empirical insights from challenging benchmarks and experimental cases of OpenAI O3 and O4-mini, we discuss the conceptual direction of native large multimodal reasoning models (N-LMRMs), which aim to support scalable, agentic, and adaptive reasoning and planning in complex, real-world environments.
Fast and effective incident response is essential to prevent adversarial cyberattacks. Autonomous Cyber Defense (ACD) aims to automate incident response through Artificial Intelligence (AI) agents that plan and execute actions. Most ACD approaches focus on single-agent scenarios and leverage Reinforcement Learning (RL). However, ACD RL-trained agents depend on costly training, and their reasoning is not always explainable or transferable. Large Language Models (LLMs) can address these concerns by providing explainable actions in general security contexts. Researchers have explored LLM agents for ACD but have not evaluated them on multi-agent scenarios or interacting with other ACD agents. In this paper, we show the first study on how LLMs perform in multi-agent ACD environments by proposing a new integration to the CybORG CAGE 4 environment. We examine how ACD teams of LLM and RL agents can interact by proposing a novel communication protocol. Our results highlight the strengths and weaknesses of LLMs and RL and help us identify promising research directions to create, train, and deploy future teams of ACD agents.
Large Language Models (LLMs) show potential for complex reasoning, yet their capacity for emergent coordination in Multi-Agent Systems (MAS) when operating under strict constraints-such as limited local perception and communication, characteristic of natural swarms-remains largely unexplored, particularly concerning the nuances of swarm intelligence. Existing benchmarks often do not fully capture the unique challenges of decentralized coordination that arise when agents operate with incomplete spatio-temporal information. To bridge this gap, we introduce SwarmBench, a novel benchmark designed to systematically evaluate the swarm intelligence capabilities of LLMs acting as decentralized agents. SwarmBench features five foundational MAS coordination tasks within a configurable 2D grid environment, forcing agents to rely primarily on local sensory input (k x k view) and local communication. We propose metrics for coordination effectiveness and analyze emergent group dynamics. Evaluating several leading LLMs in a zero-shot setting, we find significant performance variations across tasks, highlighting the difficulties posed by local information constraints. While some coordination emerges, results indicate limitations in robust planning and strategy formation under uncertainty in these decentralized scenarios. Assessing LLMs under swarm-like conditions is crucial for realizing their potential in future decentralized systems. We release SwarmBench as an open, extensible toolkit-built upon a customizable and scalable physical system with defined mechanical properties. It provides environments, prompts, evaluation scripts, and the comprehensive experimental datasets generated, aiming to foster reproducible research into LLM-based MAS coordination and the theoretical underpinnings of Embodied MAS. Our code repository is available at https://github.com/x66ccff/swarmbench.
Multi-agent autonomous systems (MAS) are better at addressing challenges that spans across multiple domains than singular autonomous agents. This holds true within the field of software engineering (SE) as well. The state-of-the-art research on MAS within SE focuses on integrating LLMs at the core of autonomous agents to create LLM-based multi-agent autonomous (LMA) systems. However, the introduction of LMA systems into SE brings a plethora of challenges. One of the major challenges is the strategic allocation of tasks between humans and the LMA system in a trustworthy manner. To address this challenge, a RACI-based framework is proposed in this work in progress article, along with implementation guidelines and an example implementation of the framework. The proposed framework can facilitate efficient collaboration, ensure accountability, and mitigate potential risks associated with LLM-driven automation while aligning with the Trustworthy AI guidelines. The future steps for this work delineating the planned empirical validation method are also presented.
Several planners have been proposed to compute robot paths that reach desired goal regions while avoiding obstacles. However, these methods fail when all pathways to the goal are blocked. In such cases, the robot must reason about how to reconfigure the environment to access task-relevant regions - a problem known as Navigation Among Movable Objects (NAMO). While various solutions to this problem have been developed, they often struggle to scale to highly cluttered environments. To address this, we propose NAMO-LLM, a sampling-based planner that searches over robot and obstacle configurations to compute feasible plans specifying which obstacles to move, where, and in what order. Its key novelty is a non-uniform sampling strategy guided by Large Language Models (LLMs) biasing the tree construction toward directions more likely to yield a solution. We show that NAMO-LLM is probabilistically complete and demonstrate through experiments that it efficiently scales to cluttered environments, outperforming related works in both runtime and plan quality.
Redundant code is a persistent challenge in software development that makes systems harder to maintain, scale, and update. It adds unnecessary complexity, hinders bug fixes, and increases technical debt. Despite their impact, removing redundant code manually is risky and error-prone, often introducing new bugs or missing dependencies. While studies highlight the prevalence and negative impact of redundant code, little focus has been given to Artificial Intelligence (AI) system codebases and the common patterns that cause redundancy. Additionally, the reasons behind developers unintentionally introducing redundant code remain largely unexplored. This research addresses these gaps by leveraging large language models (LLMs) to automatically detect and optimize redundant code in AI projects. Our research aims to identify recurring patterns of redundancy and analyze their underlying causes, such as outdated practices or insufficient awareness of best coding principles. Additionally, we plan to propose an LLM agent that will facilitate the detection and refactoring of redundancies on a large scale while preserving original functionality. This work advances the application of AI in identifying and optimizing redundant code, ultimately helping developers maintain cleaner, more readable, and scalable codebases.
Synthesizing interactive 3D scenes from text is essential for gaming, virtual reality, and embodied AI. However, existing methods face several challenges. Learning-based approaches depend on small-scale indoor datasets, limiting the scene diversity and layout complexity. While large language models (LLMs) can leverage diverse text-domain knowledge, they struggle with spatial realism, often producing unnatural object placements that fail to respect common sense. Our key insight is that vision perception can bridge this gap by providing realistic spatial guidance that LLMs lack. To this end, we introduce Scenethesis, a training-free agentic framework that integrates LLM-based scene planning with vision-guided layout refinement. Given a text prompt, Scenethesis first employs an LLM to draft a coarse layout. A vision module then refines it by generating an image guidance and extracting scene structure to capture inter-object relations. Next, an optimization module iteratively enforces accurate pose alignment and physical plausibility, preventing artifacts like object penetration and instability. Finally, a judge module verifies spatial coherence. Comprehensive experiments show that Scenethesis generates diverse, realistic, and physically plausible 3D interactive scenes, making it valuable for virtual content creation, simulation environments, and embodied AI research.
Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods encounter challenges with complex planning tasks, primarily due to extended reasoning steps, diverse constraints, and the challenge of handling multiple distinct sub-tasks. To address these challenges, we propose HyperTree Planning (HTP), a novel reasoning paradigm that constructs hypertree-structured planning outlines for effective planning. The hypertree structure enables LLMs to engage in hierarchical thinking by flexibly employing the divide-and-conquer strategy, effectively breaking down intricate reasoning steps, accommodating diverse constraints, and managing multiple distinct sub-tasks in a well-organized manner. We further introduce an autonomous planning framework that completes the planning process by iteratively refining and expanding the hypertree-structured planning outlines. Experiments demonstrate the effectiveness of HTP, achieving state-of-the-art accuracy on the TravelPlanner benchmark with Gemini-1.5-Pro, resulting in a 3.6 times performance improvement over o1-preview.
Partially Observable Markov Decision Processes (POMDPs) model decision making under uncertainty. While there are many approaches to approximately solving POMDPs, we aim to address the problem of learning such models. In particular, we are interested in a subclass of POMDPs wherein the components of the model, including the observation function, reward function, transition function, and initial state distribution function, can be modeled as low-complexity probabilistic graphical models in the form of a short probabilistic program. Our strategy to learn these programs uses an LLM as a prior, generating candidate probabilistic programs that are then tested against the empirical distribution and adjusted through feedback. We experiment on a number of classical toy POMDP problems, simulated MiniGrid domains, and two real mobile-base robotics search domains involving partial observability. Our results show that using an LLM to guide in the construction of a low-complexity POMDP model can be more effective than tabular POMDP learning, behavior cloning, or direct LLM planning.
Immersive Virtual Reality (iVR) applications have shown immense potential for skill training and learning in manufacturing. However, authoring of such applications requires technical expertise, which makes it difficult for educators to author instructions targeted at desired learning outcomes. We present FlowTrainer, an LLM-assisted interactive system to allow educators to author lesson plans for their iVR instruction based on desired goals. The authoring workflow is supported by Backward design to align the planned lesson based on the desired outcomes. We implemented a welding use case and conducted a user study with welding experts to test the effectiveness of the system in authoring outcome-oriented lesson plans. The study results showed that the system allowed users to plan lesson plans based on desired outcomes while reducing the time and technical expertise required for the authoring process. We believe that such efforts can allow widespread adoption of iVR solutions in manufacturing training to meet the workforce demands in the industry.