MistyPilot is presented, a multi-agent LLM framework that interprets high-level natural-language instructions and orchestrates the corresponding skills on the Misty social robot and attains high accuracy on routing, sensor-skill binding, task-state parsing, result reuse, and skill extension up to 100 skills, and lower variance than an otherwise identical single-agent baseline.
Abstract
Programming small social robots from natural-language instructions requires more than invoking isolated APIs. Interactive tasks combine reactive physical behaviors with stateful social behaviors, while existing interfaces often require developers to manually compose APIs into skills, configure their parameters, bind sensor events to skills, and manage task states at runtime. We present MistyPilot, a multi-agent LLM framework that interprets high-level natural-language instructions and orchestrates the corresponding skills on the Misty social robot. A Task Router dispatches each instruction to one of two specialized agents: a Physically Interactive Agent for sensor-triggered robot control and direct skill invocation, and a Social Interaction Agent for dialogue-oriented task-state management and context-dependent multimodal response generation. To improve efficiency, the Social Interaction Agent reuses previously generated results when applicable and invokes full generation otherwise. We evaluate MistyPilot on five component-level suites, with sensor bindings and skill invocations executed on the physical Misty robot, and a preliminary user study with 12 participants. MistyPilot attains high accuracy on routing, sensor-skill binding, task-state parsing, result reuse, and skill extension up to 100 skills, and lower variance than an otherwise identical single-agent baseline, while participants report positive perceptions of usability and interaction quality. The code will be made publicly available via the project page.
Multi-agent systems built on large language models (LLMs) are increasingly deployed for complex tasks requiring autonomous planning, tool use, and inter-agent coordination. However, the non-deterministic nature of LLM outputs and the emergent behavior arising from agent interactions render traditional test oracles ineffective, creating a critical gap in quality assurance for agentic AI. This work introduces MORPHAGENT, a framework designed to address the oracle problem in multi-agent LLM systems through trace-based behavioral analysis. Our contributions are threefold: (1) goal-preservation relations that verify consistent goal achievement under input perturbations, (2) coordination-consistency relations that validate inter-agent delegation and communication patterns under agent substitution and reordering, and (3) tool-use integrity relations that ensure semantic equivalence of tool invocation sequences under prompt paraphrasing. MorphAgent instruments agent execution to capture structured traces comprising planning steps, tool calls, message exchanges, and final outputs, then systematically applies metamorphic transformations and checks behavioral invariants without requiring ground-truth oracles. We evaluate the framework on four multi-agent benchmarks spanning code generation, research synthesis, customer service, and data analysis tasks, encompassing 2,840 source-followup execution pairs across three LLM backends. Results show that MORPHAGENT detects 82.0% of seeded behavioral faults, including 90.3% of coordination failures and 81.7% of goal-deviation faults, while maintaining a false positive rate of 6.1%. The framework uncovers 14 previously unreported behavioral anomalies in established multi-agent frameworks, demonstrating its practical utility for assuring agentic AI reliability. These results suggest that trace-based metamorphic testing can serve as a practical foundation for reliable validation of emerging agentic AI systems.
Gopalakrishnan Marimuthu· International Conference on...· 0 citations
These results show that compiling procedural structure improves the reliability and efficiency of skill execution while retaining model judgment where it is needed, and shows that compiling procedural structure improves the reliability and efficiency of skill execution while retaining model judgment where it is needed.
Jayanaka L. Dantanarayana, Savini Kashmira, Lingjia Tang et al.· arXiv.org· 1 citation
LLMs are increasingly deployed as orchestrators that coordinate specialized subagents to solve complex tasks through natural language. However, in many important domains like game playing and robotics, the strongest available agents are not language models. Integrating non-language agents with LLMs would require \emph{verbalization}: compressing their rich continuous representations into sparse textual summaries at each interaction step. To study whether verbalization constitutes a bottleneck, we introduce \textsc{LLAMIA-Bench}, a suite of six diverse collaborative chess tasks spanning three facets: behavioral imitation, state assessment, and natural-language explanation. Each task instantiates a well-established chess problem that neither the LLM nor the chess engine can solve alone. To solve LLM collaboration with non-language agents, we introduce \emph{latent state internalization}, which projects the subagent's continuous representations directly into the LLM's token stream as learned state tokens, with dynamic re-encoding as actions advance the environment state. Comparing internalization to verbalized integration, our experiments reveal a consistent \emph{verbalization debt}: the performance gap widens throughout training and persists as the LLM scales from 4B to 14B parameters. A single 14B model, \textsc{LLAMIA}, trained with latent state internalization, matches or exceeds task specialists and frontier models including GPT-5.1 with tool access across all benchmark tasks, and generalizes out-of-distribution where task-specific finetunes collapse
Robot foundation models have substantially advanced perception and control, but natural human-robot collaboration requires more than executing isolated commands. A robot must recognize ambiguity, maintain context across turns, communicate its intentions, and revise ongoing behavior as the user's intent changes. We present $\scriptstyle\mathsf{Ludi}_{\scriptscriptstyle 0.1}$, an agentic system for socially intelligent robots that integrates interactive speech, multimodal reasoning, memory, navigation, and learned manipulation. Its decision-making core is a fine-tuned vision-language model trained on multi-turn interaction traces spanning ambiguous requests, clarifications, corrections, interruptions, mixed social and task dialogue, and multi-step tasks. A purpose-built harness manages the model-tool interaction loop, while specialized navigation and manipulation policies execute physical skills. Ludi${}_{\scriptscriptstyle 0.1}$ demonstrates a practical path toward fluid human-robot collaboration today while producing the multimodal interaction traces needed to develop a more deeply integrated foundation model for robots and people.
Wooseong Chung, William Cong, Jakub Dworakowski et al.· 0 citations
CoMuRoS enables runtime, event-driven replanning on physical robots and supports flexible multi-robot and human-robot collaboration across diverse scenarios.
Suraj S. Borate, Bhavish Rai B, Vipul Pardeshi et al.· Frontiers in Robotics and AI· 0 citations
Agentic AI frameworks interpret open-ended task goals and decompose them into multi-step plans. Richer information about embodiment-specific capabilities, physical preconditions, and cross-robot coordination improves grounding, but does not eliminate infeasible, mistimed, or unsafe physical actions. Physical robot crews therefore require an explicit architectural interface between semantic planning and execution, where every planned action is verified against robot capabilities, system state, and workflow constraints before actuation. This paper introduces Physical Agentic AI, a framework for skill-grounded robot agent orchestration, in which each robot exposes a typed library of executable skills while a foundation model planner decomposes a task into phases and assigns each phase to a robot-skill pair. A Robot Orchestration layer exposes the skill library, robot state, named locations, and workflow contracts to a non-actuating Mission Planner, while a deterministic Robot Orchestrator validates and authorizes one skill at a time. We evaluate on a drone-UGV search-and-dispatch mission, where every mission in every condition is executed live in Gazebo, and on a humanoid-quadruped transportation task using hardware-equivalent skill interfaces plus two physical trials on a Unitree G1 and Go2. Varying planner knowledge and runtime enforcement independently, we find that retrieval raises skill grounding from 51% to 96% yet leaves informed planners dispatching 23-29% of faulted steps. Per-dispatch enforcement reduces false dispatch to 0% with no false blocks, and a held-plan ablation confirms that the gate, not plan variation, is responsible. Live execution makes the difference physical: without enforcement all eight injected faults crossed the orchestration boundary and six produced robot motion; with enforcement all eight were refused before motion.
Xinyuan Liu, Eren Sadikoglu, R. Chatterjee et al.· 0 citations
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