Multi-agent robotic manipulation tasks require coordination among agents to satisfy task-level temporal, logical, and safety constraints. Recently, diffusion policies have been used to perform the task. However, they still suffer from desynchronization, incorrect action ordering, and coordination failures in tasks that require simultaneous or sequential multi-agent interaction. Therefore, LTLDiff is proposed as a framework that combines Finite Linear Temporal Logic (LTLf) specification learning for both the generation of demonstrations and learning via diffusion policies. Each task has a specific LTLf formula that is learned from a set of natural language instructions using a large-scale language model. To enable a fixed-dimensional vector embedding of the learned specification from the language model, LTLf uses an abstract syntax tree representation scheme. This embedding of logic serves as a condition for (i) logic-guided data collection and (ii) diffusion-based policy training, encouraging trajectories that are consistent with the desired ordering and coordination requirements. Experiments on multi-agent LTLDiff manipulation tasks demonstrate improved task success rates compared to the baseline. Together, these contributions demonstrate the effectiveness of LTLDiff for coordinated multi-agent manipulation.
Long-horizon web agents frequently fail without knowing where or why execution broke down. This issue is particularly pronounced in skill-based agentic web systems, where failures arise within composite skills whose internal decision processes are not directly traceable, making precise diagnosis and repair especially difficult over long horizons. We introduce SkillTracer, a framework that represents skills as attributed plan graphs structured by hierarchical nodes and verifiable edge transitions, enabling programmatic verification of execution progress. By decomposing skills into inspectable hierarchies, SkillTracer converts raw interaction traces into structural evidence, making execution breakdowns localizable to specific node-level decision points and attributable to failing components. This attribution signal facilitates targeted structural repair, allowing the agent to selectively revise failing components while preserving the integrity of valid substructures for partial reuse and adaptive recovery. Furthermore, SkillTracer synthesizes short-term traces with long-term historical evidence to construct a persistent skill graph, enabling failure patterns to drive continual refinement across episodes. Evaluated on challenging long-horizon benchmarks, SkillTracer achieves a 17.7% average improvement in success rate over strong baselines, with gains of up to 56.3% in cross-domain settings, demonstrating that structural attribution and skill repair are critical for reliable long-horizon web interaction. A project page is available at: https://liyuuuuy.github.io/SkillTracer/.
Yuyang Li, Yiran Dou, Jiejing Shao et al.· Proceedings of the 32nd ACM...· 5 citations
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