---
license: apache-2.0
language:
- en
tags:
- Multi-agent
- LLM
- AI
pretty_name: O
size_categories:
- 10B<n<100B
---

# ORCH: Organizational Principles Enable Collective Intelligence in Embodied AI

[Project Website](http://www.generalroboticslab.com/ORCH) | [Video](https://www.youtube.com/watch?v=M7MvJTFMfOA&t=57s) | [Paper](https://arxiv.org/abs/2609.11737v1)

# Authors
[Zhengran Ji](https://jzr01.github.io/), [Jonathan Hyun](https://www.linkedin.com/in/jonathan-hyun-21617b294/), [Boyuan Chen](http://boyuanchen.com/).

Duke University, [General Robotics Lab](http://generalroboticslab.com/)

## Overview

`result.tar.gz` contains experiment outputs for cooperative multi-agent wildfire simulation tasks. The data supports analysis of task performance, agent communication, model usage, and alternative team structures. It contains simulation results, rather than observational records of real wildfires.

The archive includes per-run CSV metrics, per-agent text conversation logs, and CSV tables comparing team structures. Its compressed size is approximately 30.57 GB (28.47 GiB); extraction requires additional disk space.

This README is based on sampled archive contents and inspection of the accompanying extracted `result/` directory. It is not a complete archive integrity or completeness audit.

## Directory Structure

The standard experiment layout is:

```text
result/
├── <model>/
│   └── <method>/
│       └── <task>/
│           └── <seed>/
│               └── <timestamp>/
│                   ├── data.csv
│                   ├── Agent_1/
│                   │   └── chats.txt
│                   └── Agent_<n>/
│                       └── chats.txt
├── noop/
│   └── ...
└── team_structure_id_tables/
    └── *.csv
```

- **Model:** model-family label. Observed labels are `deepseek`, `ernie`, `gemma`, `glm`, `gpt`, `llama`, `nemotron`, and `qwen`. These labels alone do not identify exact model versions or inference settings.
- **Method:** experiment method or team-configuration variant.
- **Task:** scenario identifier.
- **Seed:** numeric experiment seed, such as `4792`.
- **Timestamp:** run directory named in `YYYY-MM-DD-HH-MM-SS` format. The timezone is not specified.
- **Agent directory:** individual agent logs. Agent counts vary by scenario and configuration.
- **`noop/`:** separate baseline results organized under task directories; do not assume the standard model/method nesting applies.

A model/task/seed combination may contain multiple timestamped runs. Preserve the full path as the run identifier.

## Methods and Team Configurations

Observed directory labels include:

| Label | Description |
| --- | --- |
| `CAMON`, `COELA`, `Embodied`, `HMAS_2` | Comparison methods, using their stored names. |
| `WILDFIRE` | Main WILDFIRE experiment results. |
| `WILDFIRE_default_teamconfig` | Default team-configuration variant. |
| `WILDFIRE_llm_generated_teamconfig` | LLM-generated team-configuration variant. |
| `WILDFIRE_llm_generated_teamconfig_no_critic` | LLM-generated configuration variant without a critic. |
| `WILDFIRE_llm_generated_only_horizontal` | Horizontal-only configuration variant. |
| `WILDFIRE_llm_generated_only_vertical` | Vertical-only configuration variant. |

Some model folders also contain directories ending in `_old` or `_log`, including `COELA_old`, `WILDFIRE_old`, and `WILDFIRE_expert_preset_teamconfig_old`. Treat these as separate variants until their relationship to the main runs is established. Not every model has every method or variant.

## Tasks

The team-structure tables list the following 25 scenario identifiers. Their presence in a table does not establish complete run coverage for every model and method.

```text
Cut_Trees_Sparse_small
Cut_Trees_Sparse_large
Cut_Trees_Lines_small
Cut_Trees_Lines_large
Scout_Fire_small
Scout_Fire_large
Transport_Firefighters_small
Transport_Firefighters_large
Rescue_Civilians_Known_Location_small
Rescue_Civilians_Known_Location_large
Suppress_Fire_Contain
Suppress_Fire_Extinguish
Rescue_Civilians_Search_and_Rescue
Suppress_Fire_Locate_and_Suppress
Suppress_Fire_Locate_Deploy_Suppress
Rescue_Civilians_Search_Rescue_Transport
Full_Game
Scout_Fire_Drone_Lost
Transport_Helicopter_Down
Rescue_Civilians_Surprise
Suppress_Fire_Extinguish_Second_Fire
Suppress_Fire_Contain_Water_Source
Suppress_Fire_Extinguish_Rapid_Growth
Scale_Level_Simple
Scale_Level_Complex
```

These cover tree cutting, scouting, firefighter transport, civilian rescue, fire suppression, combined objectives, disruptions, and different team scales.

## Data Files

### `data.csv`

Each sampled file is a comma-separated table with a header and time-indexed simulation metrics. The following columns were observed in a sampled run. Descriptions reflect field names; exact counter semantics, units, and reset behavior should be checked against the simulation implementation before deriving scores.

| Column | Interpretation |
| --- | --- |
| `timestep` | Simulation step index. |
| `exploration` | Exploration metric. |
| `trees_fire` | Tree loss associated with fire. |
| `trees_agents` | Tree cutting associated with agents. |
| `fire_extinguished` | Fire-extinguishing metric. |
| `correct_trees_cut` | Trees cut toward the task objective. |
| `civilians_rescued` | Civilian rescue metric. |
| `firefighters_transported` | Firefighter transport metric. |
| `civilians_scouted` | Civilian discovery metric. |
| `fire_scouted` | Fire discovery metric. |
| `water_scouted` | Water-source discovery metric. |
| `agents_destroyed` | Agent loss metric. |
| `civilians_destroyed` | Civilian loss metric. |
| `buildings_destroyed` | Building loss metric. |
| `cumulative_api_calls` | Accumulated model API calls. |
| `cumulative_input_tokens` | Accumulated input tokens. |
| `cumulative_output_tokens` | Accumulated output tokens. |
| `cumulative_cost` | Accumulated recorded model cost; currency and pricing basis are not established here. |
| `cumulative_idle_steps` | Accumulated idle-step counter. |
| `cumulative_replans` | Accumulated replanning counter. |
| `time` | Recorded time value; verify units and timing semantics before use. |

Inspect each file's header before combining runs: schemas may differ across methods or experiment versions. The final row is the last recorded state, not necessarily evidence of successful task completion.

### `Agent_<n>/chats.txt`

Plain-text logs record agent prompts and generated responses. Sampled logs include observation summaries, team composition, task instructions, communication, and action selection. Sections may use labels such as `Summarizing Observations`, `Choosing an Action`, `user`, `assistant`, and `END CHAT`.

These files are not a standardized JSON conversation format. Log sections and formatting may vary by method. Generated statements are agent outputs and should be distinguished from simulator-recorded outcomes.

### `team_structure_id_tables/`

| File | Contents |
| --- | --- |
| `team_structure_ids_<model>.csv` | Task-level team-structure IDs across human presets and generated configuration variants. Some tables include a `default` column. |
| `llm_generated_team_hierarchy_ids_7_open_source_models.csv` | Task-level hierarchy IDs across seven model labels, with a `distinct_team_hierarchies` column. |
| `expert_vs_llm_generated_vs_no_critic_team_ids_by_model.csv` | Comparison of expert, generated, and no-critic team IDs by model. |
| `invalid_horizontal_vertical_manager_configs.csv` | Validation findings with `model`, `task`, `variant`, `status`, `problem`, and `path` columns. |

Structure IDs are categorical labels, not performance scores. Do not assume their numerical values have a global meaning across tasks or tables without checking the ID-generation procedure. Preserve blank entries as missing values. Absolute paths in validation tables refer to the original working environment and may not resolve on another machine.

## Getting Started

Run the following from the directory containing `result.tar.gz`.

List archive contents without extracting:

```bash
tar -tzf result.tar.gz
```

Extract into a chosen directory:

```bash
mkdir -p extracted
tar -xzf result.tar.gz -C extracted
```