Daily Papers

While Multimodal Large Language Models (MLLMs) excel in cross-modal reasoning, they often struggle to perceive fine-grained details in complex high-resolution images. Recent training-free methods address this through image scaling and localized cropping. However, applying these manipulations indiscriminately introduces computational redundancy for simple queries and can degrade accuracy by truncating essential global context or introducing irrelevant background noise. To this end, we propose LazyMCoT, a dynamic and training-free framework that adaptively allocates visual grounding efforts based on sample difficulty. The framework features an Adaptive Routing mechanism that evaluates predictive uncertainty using first-token statistics from a single forward pass. This efficiently bypasses confident cases while ensuring the recall of difficult samples via conformal calibration. For these challenging cases, a Collaborative Grounding module integrates the inherent cross-modal attention of the model with an external visual expert through a two-stage refinement process. This refinement process generates a precise localized display to recover small or occluded targets. Extensive experiments across diverse benchmarks demonstrate that LazyMCoT rivals training-based approaches by simultaneously improving reasoning accuracy and reducing average inference latency. Our code is availble at https://github.com/TencentBAC/LazyMCoT.

Collaborative dialogue relies on participants incrementally establishing common ground, yet in asymmetric settings they may believe they agree while referring to different entities. We introduce a perspectivist annotation scheme for the HCRC MapTask corpus (Anderson et al., 1991) that separately captures speaker and addressee grounded interpretations for each reference expression, enabling us to trace how understanding emerges, diverges, and repairs over time. Using a scheme-constrained LLM annotation pipeline, we obtain 13k annotated reference expressions with reliability estimates and analyze the resulting understanding states. The results show that full misunderstandings are rare once lexical variants are unified, but multiplicity discrepancies systematically induce divergences, revealing how apparent grounding can mask referential misalignment. Our framework provides both a resource and an analytic lens for studying grounded misunderstanding and for evaluating (V)LLMs' capacity to model perspective-dependent grounding in collaborative dialogue.

Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational changes. Existing methods focus on combining images or languages that depict interactions with 3D geometries to introduce external interaction priors. However, they are still vulnerable to a limited semantic space by failing to leverage implied invariant geometries and potential interaction intentions. Normally, humans address complex tasks through multi-step reasoning and respond to diverse situations by leveraging associative and analogical thinking. In light of this, we propose GREAT (GeometRy-intEntion collAboraTive inference) for Open-Vocabulary 3D Object Affordance Grounding, a novel framework that mines the object invariant geometry attributes and performs analogically reason in potential interaction scenarios to form affordance knowledge, fully combining the knowledge with both geometries and visual contents to ground 3D object affordance. Besides, we introduce the Point Image Affordance Dataset v2 (PIADv2), the largest 3D object affordance dataset at present to support the task. Extensive experiments demonstrate the effectiveness and superiority of GREAT. The code and dataset are available at https://yawen-shao.github.io/GREAT/.

3D referring expression comprehension (3DREC) and segmentation (3DRES) have overlapping objectives, indicating their potential for collaboration. However, existing collaborative approaches predominantly depend on the results of one task to make predictions for the other, limiting effective collaboration. We argue that employing separate branches for 3DREC and 3DRES tasks enhances the model's capacity to learn specific information for each task, enabling them to acquire complementary knowledge. Thus, we propose the MCLN framework, which includes independent branches for 3DREC and 3DRES tasks. This enables dedicated exploration of each task and effective coordination between the branches. Furthermore, to facilitate mutual reinforcement between these branches, we introduce a Relative Superpoint Aggregation (RSA) module and an Adaptive Soft Alignment (ASA) module. These modules significantly contribute to the precise alignment of prediction results from the two branches, directing the module to allocate increased attention to key positions. Comprehensive experimental evaluation demonstrates that our proposed method achieves state-of-the-art performance on both the 3DREC and 3DRES tasks, with an increase of 2.05% in Acc@0.5 for 3DREC and 3.96% in mIoU for 3DRES.

Language models excel at following instructions but often struggle with the collaborative aspects of conversation that humans naturally employ. This limitation in grounding -- the process by which conversation participants establish mutual understanding -- can lead to outcomes ranging from frustrated users to serious consequences in high-stakes scenarios. To systematically study grounding challenges in human-LLM interactions, we analyze logs from three human-assistant datasets: WildChat, MultiWOZ, and Bing Chat. We develop a taxonomy of grounding acts and build models to annotate and forecast grounding behavior. Our findings reveal significant differences in human-human and human-LLM grounding: LLMs were three times less likely to initiate clarification and sixteen times less likely to provide follow-up requests than humans. Additionally, early grounding failures predicted later interaction breakdowns. Building on these insights, we introduce RIFTS: a benchmark derived from publicly available LLM interaction data containing situations where LLMs fail to initiate grounding. We note that current frontier models perform poorly on RIFTS, highlighting the need to reconsider how we train and prompt LLMs for human interaction. To this end, we develop a preliminary intervention that mitigates grounding failures.

Multi-modal reasoning requires the seamless integration of visual and linguistic cues, yet existing Chain-of-Thought methods suffer from two critical limitations in cross-modal scenarios: (1) over-reliance on single coarse-grained image regions, and (2) semantic fragmentation between successive reasoning steps. To address these issues, we propose the CoCoT (Collaborative Coross-modal Thought) framework, built upon two key innovations: a) Dynamic Multi-Region Grounding to adaptively detect the most relevant image regions based on the question, and b) Relation-Aware Reasoning to enable multi-region collaboration by iteratively aligning visual cues to form a coherent and logical chain of thought. Through this approach, we construct the CoCoT-70K dataset, comprising 74,691 high-quality samples with multi-region annotations and structured reasoning chains. Extensive experiments demonstrate that CoCoT significantly enhances complex visual reasoning, achieving an average accuracy improvement of 15.4% on LLaVA-1.5 and 4.0% on Qwen2-VL across six challenging benchmarks. The data and code are available at: https://github.com/deer-echo/CoCoT.

Grounded situation recognition is the task of predicting the main activity, entities playing certain roles within the activity, and bounding-box groundings of the entities in the given image. To effectively deal with this challenging task, we introduce a novel approach where the two processes for activity classification and entity estimation are interactive and complementary. To implement this idea, we propose Collaborative Glance-Gaze TransFormer (CoFormer) that consists of two modules: Glance transformer for activity classification and Gaze transformer for entity estimation. Glance transformer predicts the main activity with the help of Gaze transformer that analyzes entities and their relations, while Gaze transformer estimates the grounded entities by focusing only on the entities relevant to the activity predicted by Glance transformer. Our CoFormer achieves the state of the art in all evaluation metrics on the SWiG dataset. Training code and model weights are available at https://github.com/jhcho99/CoFormer.

As the focus on Large Language Models (LLMs) in the field of recommendation intensifies, the optimization of LLMs for recommendation purposes (referred to as LLM4Rec) assumes a crucial role in augmenting their effectiveness in providing recommendations. However, existing approaches for LLM4Rec often assess performance using restricted sets of candidates, which may not accurately reflect the models' overall ranking capabilities. In this paper, our objective is to investigate the comprehensive ranking capacity of LLMs and propose a two-step grounding framework known as BIGRec (Bi-step Grounding Paradigm for Recommendation). It initially grounds LLMs to the recommendation space by fine-tuning them to generate meaningful tokens for items and subsequently identifies appropriate actual items that correspond to the generated tokens. By conducting extensive experiments on two datasets, we substantiate the superior performance, capacity for handling few-shot scenarios, and versatility across multiple domains exhibited by BIGRec. Furthermore, we observe that the marginal benefits derived from increasing the quantity of training samples are modest for BIGRec, implying that LLMs possess the limited capability to assimilate statistical information, such as popularity and collaborative filtering, due to their robust semantic priors. These findings also underline the efficacy of integrating diverse statistical information into the LLM4Rec framework, thereby pointing towards a potential avenue for future research. Our code and data are available at https://github.com/SAI990323/Grounding4Rec.

We present that visual grounding and image captioning, which perform as two mutually inverse processes, can be bridged together for collaborative training by careful designs. By consolidating this idea, we introduce CyCo, a cyclic-consistent learning framework to ameliorate the independent training pipelines of visual grounding and image captioning. The proposed framework (1) allows the semi-weakly supervised training of visual grounding; (2) improves the performance of fully supervised visual grounding; (3) yields a general captioning model that can describe arbitrary image regions. Extensive experiments show that our fully supervised grounding model achieves state-of-the-art performance, and the semi-weakly supervised one also exhibits competitive performance compared to the fully supervised counterparts. Our image captioning model has the capability to freely describe image regions and meanwhile shows impressive performance on prevalent captioning benchmarks.

Prior approaches to realizing mixed-initiative human--computer referential communication have adopted information-state or collaborative problem-solving approaches. In this paper, we argue for a new approach, inspired by coherence-based models of discourse such as SDRT asher-lascarides:2003a, in which utterances attach to an evolving discourse structure and the associated knowledge graph of speaker commitments serves as an interface to real-world reasoning and conversational strategy. As first steps towards implementing the approach, we describe a simple dialogue system in a referential communication domain that accumulates constraints across discourse, interprets them using a learned probabilistic model, and plans clarification using reinforcement learning.

Multi-task visual grounding (MTVG) includes two sub-tasks, i.e., Referring Expression Comprehension (REC) and Referring Expression Segmentation (RES). The existing representative approaches generally follow the research pipeline which mainly consists of three core procedures, including independent feature extraction for visual and linguistic modalities, respectively, cross-modal interaction module, and independent prediction heads for different sub-tasks. Albeit achieving remarkable performance, this research line has two limitations: 1) The linguistic content has not been fully injected into the entire visual backbone for boosting more effective visual feature extraction and it needs an extra cross-modal interaction module; 2) The relationship between REC and RES tasks is not effectively exploited to help the collaborative prediction for more accurate output. To deal with these problems, in this paper, we propose a Progressive Language-guided Visual Learning framework for multi-task visual grounding, called PLVL, which not only finely mine the inherent feature expression of the visual modality itself but also progressively inject the language information to help learn linguistic-related visual features. In this manner, our PLVL does not need additional cross-modal fusion module while fully introducing the language guidance. Furthermore, we analyze that the localization center for REC would help identify the to-be-segmented object region for RES to some extent. Inspired by this investigation, we design a multi-task head to accomplish collaborative predictions for these two sub-tasks. Extensive experiments conducted on several benchmark datasets comprehensively substantiate that our PLVL obviously outperforms the representative methods in both REC and RES tasks. https://github.com/jcwang0602/PLVL

Understanding and generating 3D objects as compositions of meaningful parts is fundamental to human perception and reasoning. However, most text-to-3D methods overlook the semantic and functional structure of parts. While recent part-aware approaches introduce decomposition, they remain largely geometry-focused, lacking semantic grounding and failing to model how parts align with textual descriptions or their inter-part relations. We propose DreamPartGen, a framework for semantically grounded, part-aware text-to-3D generation. DreamPartGen introduces Duplex Part Latents (DPLs) that jointly model each part's geometry and appearance, and Relational Semantic Latents (RSLs) that capture inter-part dependencies derived from language. A synchronized co-denoising process enforces mutual geometric and semantic consistency, enabling coherent, interpretable, and text-aligned 3D synthesis. Across multiple benchmarks, DreamPartGen delivers state-of-the-art performance in geometric fidelity and text-shape alignment.

We introduce Vibe Reasoning, a human-AI collaborative paradigm for solving complex mathematical problems. Our key insight is that frontier AI models already possess the knowledge required to solve challenging problems -- they simply do not know how, what, or when to apply it. Vibe Reasoning transforms AI's latent potential into manifested capability through generic meta-prompts, agentic grounding, and model orchestration. We demonstrate this paradigm through IMO 2025 Problem 6, a combinatorial optimization problem where autonomous AI systems publicly reported failures. Our solution combined GPT-5's exploratory capabilities with Gemini 3 Pro's proof strengths, leveraging agentic workflows with Python code execution and file-based memory, to derive both the correct answer (2112) and a rigorous mathematical proof. Through iterative refinement across multiple attempts, we discovered the necessity of agentic grounding and model orchestration, while human prompts evolved from problem-specific hints to generic, transferable meta-prompts. We analyze why capable AI fails autonomously, how each component addresses specific failure modes, and extract principles for effective vibe reasoning. Our findings suggest that lightweight human guidance can unlock frontier models' mathematical reasoning potential. This is ongoing work; we are developing automated frameworks and conducting broader evaluations to further validate Vibe Reasoning's generality and effectiveness.

AI agents are rapidly expanding in both capability and population: they now write code, operate computers across platforms, manage cloud infrastructure, and make purchasing decisions, while open-source frameworks such as OpenClaw are putting personal agents in the hands of millions and embodied agents are spreading across smartphones, vehicles, and robots. As the internet prepares to host billions of such entities, it is shifting toward what we call Open Agentic Web, a decentralized digital ecosystem in which agents from different users, organizations, and runtimes can discover one another, negotiate task boundaries, and delegate work across open technical and social surfaces at scale. Yet most of today's agents remain isolated tools or closed-ecosystem orchestrators rather than socially integrated participants in open networks. We argue that the next generation of agents must become Agentic Citizens, defined by three requirements: Agentic-Web-Native Collaboration, participation in open collaboration networks rather than only closed internal orchestration; Agent Identity and Personhood, continuity as a social entity rather than a resettable function call; and Lifelong Evolution, improvement across task performance, communication, and collaboration over time. We present Synergy, a general-purpose agent architecture and runtime harness for persistent, collaborative, and evolving agents on Open Agentic Web, grounding collaboration in session-native orchestration, repository-backed workspaces, and social communication; identity in typed memory, notes, agenda, skills, and persistent social relationships; and evolution in an experience-centered learning mechanism that proactively recalls rewarded trajectories at inference time.

Understanding animals' behaviors is significant for a wide range of applications. However, existing animal behavior datasets have limitations in multiple aspects, including limited numbers of animal classes, data samples and provided tasks, and also limited variations in environmental conditions and viewpoints. To address these limitations, we create a large and diverse dataset, Animal Kingdom, that provides multiple annotated tasks to enable a more thorough understanding of natural animal behaviors. The wild animal footages used in our dataset record different times of the day in extensive range of environments containing variations in backgrounds, viewpoints, illumination and weather conditions. More specifically, our dataset contains 50 hours of annotated videos to localize relevant animal behavior segments in long videos for the video grounding task, 30K video sequences for the fine-grained multi-label action recognition task, and 33K frames for the pose estimation task, which correspond to a diverse range of animals with 850 species across 6 major animal classes. Such a challenging and comprehensive dataset shall be able to facilitate the community to develop, adapt, and evaluate various types of advanced methods for animal behavior analysis. Moreover, we propose a Collaborative Action Recognition (CARe) model that learns general and specific features for action recognition with unseen new animals. This method achieves promising performance in our experiments. Our dataset can be found at https://sutdcv.github.io/Animal-Kingdom.

Aerial Vision-and-Language Navigation (VLN) is an emerging task that enables Unmanned Aerial Vehicles (UAVs) to navigate outdoor environments using natural language instructions and visual cues. However, due to the extended trajectories and complex maneuverability of UAVs, achieving reliable UAV-VLN performance is challenging and often requires human intervention or overly detailed instructions. To harness the advantages of UAVs' high mobility, which could provide multi-grained perspectives, while maintaining a manageable motion space for learning, we introduce a novel task called Dual-Altitude UAV Collaborative VLN (DuAl-VLN). In this task, two UAVs operate at distinct altitudes: a high-altitude UAV responsible for broad environmental reasoning, and a low-altitude UAV tasked with precise navigation. To support the training and evaluation of the DuAl-VLN, we construct the HaL-13k, a dataset comprising 13,838 collaborative high-low UAV demonstration trajectories, each paired with target-oriented language instructions. This dataset includes both unseen maps and an unseen object validation set to systematically evaluate the model's generalization capabilities across novel environments and unfamiliar targets. To consolidate their complementary strengths, we propose a dual-UAV collaborative VLN framework, AeroDuo, where the high-altitude UAV integrates a multimodal large language model (Pilot-LLM) for target reasoning, while the low-altitude UAV employs a lightweight multi-stage policy for navigation and target grounding. The two UAVs work collaboratively and only exchange minimal coordinate information to ensure efficiency.

Effective conversation requires common ground: a shared understanding between the participants. Common ground, however, does not emerge spontaneously in conversation. Speakers and listeners work together to both identify and construct a shared basis while avoiding misunderstanding. To accomplish grounding, humans rely on a range of dialogue acts, like clarification (What do you mean?) and acknowledgment (I understand.). However, it is unclear whether large language models (LLMs) generate text that reflects human grounding. To this end, we curate a set of grounding acts and propose corresponding metrics that quantify attempted grounding. We study whether LLM generations contain grounding acts, simulating turn-taking from several dialogue datasets and comparing results to humans. We find that -- compared to humans -- LLMs generate language with less conversational grounding, instead generating text that appears to simply presume common ground. To understand the roots of the identified grounding gap, we examine the role of instruction tuning and preference optimization, finding that training on contemporary preference data leads to a reduction in generated grounding acts. Altogether, we highlight the need for more research investigating conversational grounding in human-AI interaction.

Effective dialogue involves grounding, the process of establishing mutual knowledge that is essential for communication between people. Modern dialogue systems are not explicitly trained to build common ground, and therefore overlook this important aspect of communication. Improvisational theater (improv) intrinsically contains a high proportion of dialogue focused on building common ground, and makes use of the yes-and principle, a strong grounding speech act, to establish coherence and an actionable objective reality. We collect a corpus of more than 26,000 yes-and turns, transcribing them from improv dialogues and extracting them from larger, but more sparsely populated movie script dialogue corpora, via a bootstrapped classifier. We fine-tune chit-chat dialogue systems with our corpus to encourage more grounded, relevant conversation and confirm these findings with human evaluations.

Collaborative tasks often begin with partial task knowledge and incomplete initial plans from each partner. To complete these tasks, agents need to engage in situated communication with their partners and coordinate their partial plans towards a complete plan to achieve a joint task goal. While such collaboration seems effortless in a human-human team, it is highly challenging for human-AI collaboration. To address this limitation, this paper takes a step towards collaborative plan acquisition, where humans and agents strive to learn and communicate with each other to acquire a complete plan for joint tasks. Specifically, we formulate a novel problem for agents to predict the missing task knowledge for themselves and for their partners based on rich perceptual and dialogue history. We extend a situated dialogue benchmark for symmetric collaborative tasks in a 3D blocks world and investigate computational strategies for plan acquisition. Our empirical results suggest that predicting the partner's missing knowledge is a more viable approach than predicting one's own. We show that explicit modeling of the partner's dialogue moves and mental states produces improved and more stable results than without. These results provide insight for future AI agents that can predict what knowledge their partner is missing and, therefore, can proactively communicate such information to help their partner acquire such missing knowledge toward a common understanding of joint tasks.

Humans talk in free-form while negotiating the expressed meanings or common ground. Despite the impressive conversational abilities of the large generative language models, they do not consider the individual differences in contextual understanding in a shared situated environment. In this work, we propose MindDial, a novel conversational framework that can generate situated free-form responses to negotiate common ground. We design an explicit mind module that can track three-level beliefs -- the speaker's belief, the speaker's prediction of the listener's belief, and the common belief based on the gap between the first two. Then the speaking act classification head will decide to continue to talk, end this turn, or take task-related action. We augment a common ground alignment dataset MutualFriend with belief dynamics annotation, of which the goal is to find a single mutual friend based on the free chat between two agents. Experiments show that our model with mental state modeling can resemble human responses when aligning common ground meanwhile mimic the natural human conversation flow. The ablation study further validates the third-level common belief can aggregate information of the first and second-order beliefs and align common ground more efficiently.

The trajectory of AI development suggests that we will increasingly rely on agent-based systems composed of independently developed agents with different information, privileges, and tools. The success of these systems will critically depend on effective collaboration among these heterogeneous agents, even under partial observability. Despite intense interest, few empirical studies have evaluated such agent-agent collaboration at scale. We propose a collaborative maze-solving benchmark that (i) isolates collaborative capabilities, (ii) modulates problem complexity, (iii) enables scalable automated grading, and (iv) imposes no output-format constraints, preserving ecological plausibility. Using this framework, we evaluate 32 leading open- and closed-source models in solo, homogeneous, and heterogeneous pairings. Our results reveal a "collaboration gap": models that perform well solo often degrade substantially when required to collaborate. Collaboration can break down dramatically; for instance, small distilled models that solve mazes well alone may fail almost completely in certain pairings. We find that starting with the stronger agent often improves outcomes, motivating a "relay inference" approach where the stronger agent leads before handing off to the weaker one, closing much of the gap. Our findings argue for (1) collaboration-aware evaluation, (2) training strategies developed to enhance collaborative capabilities, and (3) interaction design that reliably elicits agents' latent skills, guidance that applies to AI-AI and human-AI collaboration.

Graphical user interface (GUI) grounding, the ability to map natural language instructions to specific actions on graphical user interfaces, remains a critical bottleneck in computer use agent development. Current benchmarks oversimplify grounding tasks as short referring expressions, failing to capture the complexity of real-world interactions that require software commonsense, layout understanding, and fine-grained manipulation capabilities. To address these limitations, we introduce OSWorld-G, a comprehensive benchmark comprising 564 finely annotated samples across diverse task types including text matching, element recognition, layout understanding, and precise manipulation. Additionally, we synthesize and release the largest computer use grounding dataset Jedi, which contains 4 million examples through multi-perspective decoupling of tasks. Our multi-scale models trained on Jedi demonstrate its effectiveness by outperforming existing approaches on ScreenSpot-v2, ScreenSpot-Pro, and our OSWorld-G. Furthermore, we demonstrate that improved grounding with Jedi directly enhances agentic capabilities of general foundation models on complex computer tasks, improving from 5% to 27% on OSWorld. Through detailed ablation studies, we identify key factors contributing to grounding performance and verify that combining specialized data for different interface elements enables compositional generalization to novel interfaces. All benchmark, data, checkpoints, and code are open-sourced and available at https://osworld-grounding.github.io.

Large Reasoning Models (LRMs) achieve remarkable performance by explicitly generating multi-step chains of thought, but this capability incurs substantial inference latency and computational cost. Collaborative inference offers a promising solution by selectively allocating work between lightweight and large models, yet a fundamental challenge remains: determining when a reasoning step requires the capacity of a large model or the efficiency of a small model. Existing routing strategies either rely on local token probabilities or post-hoc verification, introducing significant inference overhead. In this work, we propose a novel perspective on step-wise collaboration: the difficulty of a reasoning step can be inferred from its very first token. Inspired by the "Aha Moment" phenomenon in LRMs, we show that the entropy of the initial token serves as a strong predictor of step difficulty. Building on this insight, we introduce GlimpRouter, a training-free step-wise collaboration framework. GlimpRouter employs a lightweight model to generate only the first token of each reasoning step and routes the step to a larger model only when the initial token entropy exceeds a threshold. Experiments on multiple benchmarks demonstrate that our approach significantly reduces inference latency while preserving accuracy. For instance, GlimpRouter attains a substantial 10.7% improvement in accuracy while reducing inference latency by 25.9% compared to a standalone large model on AIME25. These results suggest a simple yet effective mechanism for reasoning: allocating computation based on a glimpse of thought rather than full-step evaluation.

We envision a continuous collaborative learning system where groups of LLM agents work together to solve reasoning problems, drawing on memory they collectively build to improve performance as they gain experience. This work establishes the foundations for such a system by studying the interoperability of chain-of-thought reasoning styles, multi-agent collaboration, and memory banks. Extending beyond the identical agents of self-consistency, we introduce varied-context agents with diverse exemplars and a summarizer agent in place of voting. We generate frozen and continuously learned memory banks of exemplars and pair them with fixed, random, and similarity-based retrieval mechanisms. Our systematic study reveals where various methods contribute to reasoning performance of two LLMs on three grounded reasoning tasks, showing that random exemplar selection can often beat more principled approaches, and in some tasks, inclusion of any exemplars serves only to distract both weak and strong models.

Building reliable computer-use agents requires grounding: accurately connecting natural language instructions to the correct on-screen elements. While large datasets exist for web and mobile interactions, high-quality resources for desktop environments are limited. To address this gap, we introduce GroundCUA, a large-scale desktop grounding dataset built from expert human demonstrations. It covers 87 applications across 12 categories and includes 56K screenshots, with every on-screen element carefully annotated for a total of over 3.56M human-verified annotations. From these demonstrations, we generate diverse instructions that capture a wide range of real-world tasks, providing high-quality data for model training. Using GroundCUA, we develop the GroundNext family of models that map instructions to their target UI elements. At both 3B and 7B scales, GroundNext achieves state-of-the-art results across five benchmarks using supervised fine-tuning, while requiring less than one-tenth the training data of prior work. Reinforcement learning post-training further improves performance, and when evaluated in an agentic setting on the OSWorld benchmark using o3 as planner, GroundNext attains comparable or superior results to models trained with substantially more data,. These results demonstrate the critical role of high-quality, expert-driven datasets in advancing general-purpose computer-use agents.

Collaboration is ubiquitous and essential in day-to-day life -- from exchanging ideas, to delegating tasks, to generating plans together. This work studies how LLMs can adaptively collaborate to perform complex embodied reasoning tasks. To this end we introduce MINDcraft, an easily extensible platform built to enable LLM agents to control characters in the open-world game of Minecraft; and MineCollab, a benchmark to test the different dimensions of embodied and collaborative reasoning. An experimental study finds that the primary bottleneck in collaborating effectively for current state-of-the-art agents is efficient natural language communication, with agent performance dropping as much as 15% when they are required to communicate detailed task completion plans. We conclude that existing LLM agents are ill-optimized for multi-agent collaboration, especially in embodied scenarios, and highlight the need to employ methods beyond in-context and imitation learning. Our website can be found here: https://mindcraft-minecollab.github.io/

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects including detection, localization, and recognition of objects with their parts, of geo-spatial configuration/layout of the scene, of 3D shapes and physics, as well as of the functionality and potential interaction of the objects and humans. Much of the knowledge is hidden and beyond the image content with the supervised labels from a limited training set. In this paper, we make an attempt to improve the generalization capability of the current affordance grounding by taking the advantage of the rich world, abstract, and human-object-interaction knowledge from pretrained large-scale vision language models. Under the AGD20K benchmark, our proposed model demonstrates a significant performance gain over the competing methods for in-the-wild object affordance grounding. We further demonstrate it can ground affordance for objects from random Internet images, even if both objects and actions are unseen during training. Project site: https://jasonqsy.github.io/AffordanceLLM/

We introduce MERGE, a system for situational grounding of actors, objects, and events in dynamic human-robot group interactions. Effective collaboration in such settings requires consistent situational awareness, built on persistent representations of people and objects and an episodic abstraction of events. MERGE achieves this by uniquely identifying physical instances of actors (humans or robots) and objects and structuring them into actor-action-object relations, ensuring temporal consistency across interactions. Central to MERGE is the integration of Vision-Language Models (VLMs) guided with a perception pipeline: a lightweight streaming module continuously processes visual input to detect changes and selectively invokes the VLM only when necessary. This decoupled design preserves the reasoning power and zero-shot generalization of VLMs while improving efficiency, avoiding both the high monetary cost and the latency of frame-by-frame captioning that leads to fragmented and delayed outputs. To address the absence of suitable benchmarks for multi-actor collaboration, we introduce the GROUND dataset, which offers fine-grained situational annotations of multi-person and human-robot interactions. On this dataset, our approach improves the average grounding score by a factor of 2 compared to the performance of VLM-only baselines - including GPT-4o, GPT-5 and Gemini 2.5 Flash - while also reducing run-time by a factor of 4. The code and data are available at www.github.com/HRI-EU/merge.

Humans build shared spatial understanding by communicating partial, viewpoint-dependent observations. We ask whether Multimodal Large Language Models (MLLMs) can do the same, aligning distinct egocentric views through dialogue to form a coherent, allocentric mental model of a shared environment. To study this systematically, we introduce COSMIC, a benchmark for Collaborative Spatial Communication. In this setting, two static MLLM agents observe a 3D indoor environment from different viewpoints and exchange natural-language messages to solve spatial queries. COSMIC contains 899 diverse scenes and 1250 question-answer pairs spanning five tasks. We find a consistent capability hierarchy, MLLMs are most reliable at identifying shared anchor objects across views, perform worse on relational reasoning, and largely fail at building globally consistent maps, performing near chance, even for the frontier models. Moreover, we find thinking capability yields consistent gains in anchor grounding, but is insufficient for higher-level spatial communication. To contextualize model behavior, we additionally collect 250 human-human dialogues. Humans achieve 95% aggregate accuracy, leaving significant room for improvement for even the best performing model Gemini-3-Pro-Thinking which achieves 72% aggregate accuracy. Moreover, human conversations become increasingly specific as partners converge on a shared mental model, whereas model dialogues continue to explore new possibilities rather than converging, consistent with a limited ability to build and maintain a robust shared mental model. Our code and data is available at https://github.com/ankursikarwar/Cosmic

Grounding (i.e. localizing) arbitrary, free-form textual phrases in visual content is a challenging problem with many applications for human-computer interaction and image-text reference resolution. Few datasets provide the ground truth spatial localization of phrases, thus it is desirable to learn from data with no or little grounding supervision. We propose a novel approach which learns grounding by reconstructing a given phrase using an attention mechanism, which can be either latent or optimized directly. During training our approach encodes the phrase using a recurrent network language model and then learns to attend to the relevant image region in order to reconstruct the input phrase. At test time, the correct attention, i.e., the grounding, is evaluated. If grounding supervision is available it can be directly applied via a loss over the attention mechanism. We demonstrate the effectiveness of our approach on the Flickr 30k Entities and ReferItGame datasets with different levels of supervision, ranging from no supervision over partial supervision to full supervision. Our supervised variant improves by a large margin over the state-of-the-art on both datasets.

Existing work in language grounding typically study single environments. How do we build unified models that apply across multiple environments? We propose the multi-environment Symbolic Interactive Language Grounding benchmark (SILG), which unifies a collection of diverse grounded language learning environments under a common interface. SILG consists of grid-world environments that require generalization to new dynamics, entities, and partially observed worlds (RTFM, Messenger, NetHack), as well as symbolic counterparts of visual worlds that require interpreting rich natural language with respect to complex scenes (ALFWorld, Touchdown). Together, these environments provide diverse grounding challenges in richness of observation space, action space, language specification, and plan complexity. In addition, we propose the first shared model architecture for RL on these environments, and evaluate recent advances such as egocentric local convolution, recurrent state-tracking, entity-centric attention, and pretrained LM using SILG. Our shared architecture achieves comparable performance to environment-specific architectures. Moreover, we find that many recent modelling advances do not result in significant gains on environments other than the one they were designed for. This highlights the need for a multi-environment benchmark. Finally, the best models significantly underperform humans on SILG, which suggests ample room for future work. We hope SILG enables the community to quickly identify new methodologies for language grounding that generalize to a diverse set of environments and their associated challenges.

This paper introduces two significant contributions to address the issue of grounding claims in a given context. Grounding means that given a context (document) and a claim, there's at least one supportive evidence for the claim in the document. We will introduce Paladin-mini, a compact (3.8B parameters) open-source classifier model (used for labeling data as grounded or ungrounded) engineered for robust performance in real-world scenarios, and the grounding-benchmark, a new evaluation dataset designed to assess performance on critical reasoning tasks. We'll also demonstrate the results of Paladin-mini with benchmarks against the current State-of-the-art and share clear and reproducible results.

Large language models (LLMs) are often supplemented with external knowledge to provide information not encoded in their parameters or to reduce hallucination. In such cases, we expect the model to generate responses by grounding its response in the provided external context. However, prior work has shown that simply appending context at inference time does not ensure grounded generation. To address this, we propose Context-INformed Grounding Supervision (CINGS), a post-training supervision in which the model is trained with relevant context prepended to the response, while computing the loss only over the response tokens and masking out the context. Our experiments demonstrate that models trained with CINGS exhibit stronger grounding in both textual and visual domains compared to standard instruction-tuned models. In the text domain, CINGS outperforms other training methods across 11 information-seeking datasets and is complementary to inference-time grounding techniques. In the vision-language domain, replacing a vision-language model's LLM backbone with a CINGS-trained model reduces hallucinations across four benchmarks and maintains factual consistency throughout the generated response. This improved grounding comes without degradation in general downstream performance. Finally, we analyze the mechanism underlying the enhanced grounding in CINGS and find that it induces a shift in the model's prior knowledge and behavior, implicitly encouraging greater reliance on the external context.

Visual grounding refers to the ability of a model to identify a region within some visual input that matches a textual description. Consequently, a model equipped with visual grounding capabilities can target a wide range of applications in various domains, including referring expression comprehension, answering questions pertinent to fine-grained details in images or videos, caption visual context by explicitly referring to entities, as well as low and high-level control in simulated and real environments. In this survey paper, we review representative works across the key areas of research on modern general-purpose vision language models (VLMs). We first outline the importance of grounding in VLMs, then delineate the core components of the contemporary paradigm for developing grounded models, and examine their practical applications, including benchmarks and evaluation metrics for grounded multimodal generation. We also discuss the multifaceted interrelations among visual grounding, multimodal chain-of-thought, and reasoning in VLMs. Finally, we analyse the challenges inherent to visual grounding and suggest promising directions for future research.

Facilitating an entity's interaction with objects requires accurately identifying parts that afford specific actions. Weakly supervised affordance grounding (WSAG) seeks to imitate human learning from third-person demonstrations, where humans intuitively grasp functional parts without needing pixel-level annotations. To achieve this, grounding is typically learned using a shared classifier across images from different perspectives, along with distillation strategies incorporating part discovery process. However, since affordance-relevant parts are not always easily distinguishable, models primarily rely on classification, often focusing on common class-specific patterns that are unrelated to affordance. To address this limitation, we move beyond isolated part-level learning by introducing selective prototypical and pixel contrastive objectives that adaptively learn affordance-relevant cues at both the part and object levels, depending on the granularity of the available information. Initially, we find the action-associated objects in both egocentric (object-focused) and exocentric (third-person example) images by leveraging CLIP. Then, by cross-referencing the discovered objects of complementary views, we excavate the precise part-level affordance clues in each perspective. By consistently learning to distinguish affordance-relevant regions from affordance-irrelevant background context, our approach effectively shifts activation from irrelevant areas toward meaningful affordance cues. Experimental results demonstrate the effectiveness of our method. Codes are available at github.com/hynnsk/SelectiveCL.

Visual Grounding is also known as Referring Expression Comprehension and Phrase Grounding. It involves localizing a natural number of specific regions within an image based on a given textual description. The objective of this task is to emulate the prevalent referential relationships in social conversations, equipping machines with human-like multimodal comprehension capabilities. Consequently, it has extensive applications in various domains. However, since 2021, visual grounding has witnessed significant advancements, with emerging new concepts such as grounded pre-training, grounding multimodal LLMs, generalized visual grounding, and giga-pixel grounding, which have brought numerous new challenges. In this survey, we initially examine the developmental history of visual grounding and provide an overview of essential background knowledge. We systematically track and summarize the advancements and meticulously organize the various settings in visual grounding, thereby establishing precise definitions of these settings to standardize future research and ensure a fair comparison. Additionally, we delve into several advanced topics and highlight numerous applications of visual grounding. Finally, we outline the challenges confronting visual grounding and propose valuable directions for future research, which may serve as inspiration for subsequent researchers. By extracting common technical details, this survey encompasses the representative works in each subtopic over the past decade. To the best, this paper presents the most comprehensive overview currently available in the field of grounding. This survey is designed to be suitable for both beginners and experienced researchers, serving as an invaluable resource for understanding key concepts and tracking the latest research developments. We keep tracing related works at https://github.com/linhuixiao/Awesome-Visual-Grounding.

Large language models (LLMs) are transforming society, powering applications from smartphone assistants to autonomous driving. Yet cloud-based LLM services alone cannot serve a growing class of applications, including those operating under intermittent connectivity, sub-second latency budgets, data-residency constraints, or sustained high-volume inference. On-device deployment is in turn constrained by limited computation and memory. No single endpoint can deliver high-quality service across this spectrum. This article focuses on collaborative intelligence, a paradigm in which multiple independent LLMs distributed across device and cloud endpoints collaborate at the task level through natural language or structured messages. Such collaboration strives for superior response quality under heterogeneous resource constraints spanning computation, memory, communication, and cost across network tiers. We present collaborative inference along two complementary and composable dimensions: vertical device-cloud collaboration and horizontal multi-agent collaboration, which can be combined into hybrid topologies in practice. We then examine learning to collaborate, addressing the training of routing policies and the development of cooperative capabilities among LLMs. Finally, we identify open research challenges including scaling under resource heterogeneity and trustworthy collaborative intelligence.

Generative AI agents equate understanding with resolving explicit queries, an assumption that confines interaction to what users can articulate. This assumption breaks down when users themselves lack awareness of what is missing, risky, or worth considering. In such conditions, proactivity is not merely an efficiency enhancement, but an epistemic necessity. We refer to this condition as epistemic incompleteness: where progress depends on engaging with unknown unknowns for effective partnership. Existing approaches to proactivity remain narrowly anticipatory, extrapolating from past behavior and presuming that goals are already well defined, thereby failing to support users meaningfully. However, surfacing possibilities beyond a user's current awareness is not inherently beneficial. Unconstrained proactive interventions can misdirect attention, overwhelm users, or introduce harm. Proactive agents, therefore, require behavioral grounding: principled constraints on when, how, and to what extent an agent should intervene. We advance the position that generative proactivity must be grounded both epistemically and behaviorally. Drawing on the philosophy of ignorance and research on proactive behavior, we argue that these theories offer critical guidance for designing agents that can engage responsibly and foster meaningful partnerships.

Multi-agent collaborative perception is expected to significantly improve perception performance by overcoming the limitations of single-agent perception through exchanging complementary information. However, training a robust collaborative perception model requires collecting sufficient training data that covers all possible collaboration scenarios, which is impractical due to intolerable deployment costs. Hence, the trained model is not robust against new traffic scenarios with inconsistent data distribution and fundamentally restricts its real-world applicability. Further, existing methods, such as domain adaptation, have mitigated this issue by exposing the deployment data during the training stage but incur a high training cost, which is infeasible for resource-constrained agents. In this paper, we propose a Parameter-Efficient Fine-Tuning-based lightweight framework, CoPEFT, for fast adapting a trained collaborative perception model to new deployment environments under low-cost conditions. CoPEFT develops a Collaboration Adapter and Agent Prompt to perform macro-level and micro-level adaptations separately. Specifically, the Collaboration Adapter utilizes the inherent knowledge from training data and limited deployment data to adapt the feature map to new data distribution. The Agent Prompt further enhances the Collaboration Adapter by inserting fine-grained contextual information about the environment. Extensive experiments demonstrate that our CoPEFT surpasses existing methods with less than 1\% trainable parameters, proving the effectiveness and efficiency of our proposed method.

GUI grounding, the task of identifying a precise location on an interface image from a natural language query, plays a crucial role in enhancing the capabilities of Vision-Language Model (VLM) agents. While general VLMs, such as GPT-4V, demonstrate strong performance across various tasks, their proficiency in GUI grounding remains suboptimal. Recent studies have focused on fine-tuning these models specifically for one-shot GUI grounding, yielding significant improvements over baseline performance. We introduce a visual prompting framework called Iterative Narrowing (IN) to further enhance the performance of both general and fine-tuned models in GUI grounding. For evaluation, we tested our method on a comprehensive benchmark comprising different UI platforms.

In this survey, we review methods that retrieve multimodal knowledge to assist and augment generative models. This group of works focuses on retrieving grounding contexts from external sources, including images, codes, tables, graphs, and audio. As multimodal learning and generative AI have become more and more impactful, such retrieval augmentation offers a promising solution to important concerns such as factuality, reasoning, interpretability, and robustness. We provide an in-depth review of retrieval-augmented generation in different modalities and discuss potential future directions. As this is an emerging field, we continue to add new papers and methods.

We study video-grounded dialogue generation, where a response is generated based on the dialogue context and the associated video. The primary challenges of this task lie in (1) the difficulty of integrating video data into pre-trained language models (PLMs) which presents obstacles to exploiting the power of large-scale pre-training; and (2) the necessity of taking into account the complementarity of various modalities throughout the reasoning process. Although having made remarkable progress in video-grounded dialogue generation, existing methods still fall short when it comes to integrating with PLMs in a way that allows information from different modalities to complement each other. To alleviate these issues, we first propose extracting pertinent information from videos and turning it into reasoning paths that are acceptable to PLMs. Additionally, we propose a multi-agent reinforcement learning method to collaboratively perform reasoning on different modalities (i.e., video and dialogue context). Empirical experiment results on two public datasets indicate that the proposed model can significantly outperform state-of-the-art models by large margins on both automatic and human evaluations.

Remarkable advancements in modern generative foundation models have enabled the development of sophisticated and highly capable autonomous agents that can observe their environment, invoke tools, and communicate with other agents to solve problems. Although such agents can communicate with users through natural language, their complexity and wide-ranging failure modes present novel challenges for human-AI interaction. Building on prior research and informed by a communication grounding perspective, we contribute to the study of human-agent communication by identifying and analyzing twelve key communication challenges that these systems pose. These include challenges in conveying information from the agent to the user, challenges in enabling the user to convey information to the agent, and overarching challenges that need to be considered across all human-agent communication. We illustrate each challenge through concrete examples and identify open directions of research. Our findings provide insights into critical gaps in human-agent communication research and serve as an urgent call for new design patterns, principles, and guidelines to support transparency and control in these systems.

Multi-agent systems powered by large language models exhibit strong capabilities in collaborative problem-solving. However, these systems suffer from substantial knowledge redundancy. Agents duplicate efforts in retrieval and reasoning processes. This inefficiency stems from a deeper issue: current architectures lack mechanisms to ensure agents share minimal sufficient information at each operational stage. Empirical analysis reveals an average knowledge duplication rate of 47.3\% across agent communications. We propose D3MAS (Decompose, Deduce, and Distribute), a hierarchical coordination framework addressing redundancy through structural design rather than explicit optimization. The framework organizes collaboration across three coordinated layers. Task decomposition filters irrelevant sub-problems early. Collaborative reasoning captures complementary inference paths across agents. Distributed memory provides access to non-redundant knowledge. These layers coordinate through structured message passing in a unified heterogeneous graph. This cross-layer alignment ensures information remains aligned with actual task needs. Experiments on four challenging datasets show that D3MAS consistently improves reasoning accuracy by 8.7\% to 15.6\% and reduces knowledge redundancy by 46\% on average.

As Natural Language Processing (NLP) systems are increasingly employed in intricate social environments, a pressing query emerges: Can these NLP systems mirror human-esque collaborative intelligence, in a multi-agent society consisting of multiple large language models (LLMs)? This paper probes the collaboration mechanisms among contemporary NLP systems by melding practical experiments with theoretical insights. We fabricate four unique `societies' comprised of LLM agents, where each agent is characterized by a specific `trait' (easy-going or overconfident) and engages in collaboration with a distinct `thinking pattern' (debate or reflection). Evaluating these multi-agent societies on three benchmark datasets, we discern that LLM agents navigate tasks by leveraging diverse social behaviors, from active debates to introspective reflections. Notably, certain collaborative strategies only optimize efficiency (using fewer API tokens), but also outshine previous top-tier approaches. Moreover, our results further illustrate that LLM agents manifest human-like social behaviors, such as conformity or majority rule, mirroring foundational Social Psychology theories. In conclusion, we integrate insights from Social Psychology to contextualize the collaboration of LLM agents, inspiring further investigations into the collaboration mechanism for LLMs. We commit to sharing our code and datasets (already submitted in supplementary materials), hoping to catalyze further research in this promising avenue (All code and data are available at https://github.com/zjunlp/MachineSoM.).

The ultimate goal of embodied agents is to create collaborators that can interact with humans, not mere executors that passively follow instructions. This requires agents to communicate, coordinate, and adapt their actions based on human feedback. Recently, advances in VLAs have offered a path toward this goal. However, most current VLA-based embodied agents operate in a one-way mode: they receive an instruction and execute it without feedback. This approach fails in real-world scenarios where instructions are often ambiguous. In this paper, we address this problem with the Ask-to-Clarify framework. Our framework first resolves ambiguous instructions by asking questions in a multi-turn dialogue. Then it generates low-level actions end-to-end. Specifically, the Ask-to-Clarify framework consists of two components, one VLM for collaboration and one diffusion for action. We also introduce a connection module that generates conditions for the diffusion based on the output of the VLM. This module adjusts the observation by instructions to create reliable conditions. We train our framework with a two-stage knowledge-insulation strategy. First, we fine-tune the collaboration component using ambiguity-solving dialogue data to handle ambiguity. Then, we integrate the action component while freezing the collaboration one. This preserves the interaction abilities while fine-tuning the diffusion to generate actions. The training strategy guarantees our framework can first ask questions, then generate actions. During inference, a signal detector functions as a router that helps our framework switch between asking questions and taking actions. We evaluate the Ask-to-Clarify framework in 8 real-world tasks, where it outperforms existing state-of-the-art VLAs. The results suggest that our proposed framework, along with the training strategy, provides a path toward collaborative embodied agents.

The emergence of multi-agent systems powered by large language models (LLMs) has unlocked new frontiers in complex task-solving, enabling diverse agents to integrate unique expertise, collaborate flexibly, and address challenges unattainable for individual models. However, the full potential of such systems is hindered by rigid agent scheduling and inefficient coordination strategies that fail to adapt to evolving task requirements. In this paper, we propose STRMAC, a state-aware routing framework designed for efficient collaboration in multi-agent systems. Our method separately encodes interaction history and agent knowledge to power the router, which adaptively selects the most suitable single agent at each step for efficient and effective collaboration. Furthermore, we introduce a self-evolving data generation approach that accelerates the collection of high-quality execution paths for efficient system training. Experiments on challenging collaborative reasoning benchmarks demonstrate that our method achieves state-of-the-art performance, achieving up to 23.8% improvement over baselines and reducing data collection overhead by up to 90.1% compared to exhaustive search.

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit limitations in handling complex language queries, we propose LLM-Grounder, a novel zero-shot, open-vocabulary, Large Language Model (LLM)-based 3D visual grounding pipeline. LLM-Grounder utilizes an LLM to decompose complex natural language queries into semantic constituents and employs a visual grounding tool, such as OpenScene or LERF, to identify objects in a 3D scene. The LLM then evaluates the spatial and commonsense relations among the proposed objects to make a final grounding decision. Our method does not require any labeled training data and can generalize to novel 3D scenes and arbitrary text queries. We evaluate LLM-Grounder on the ScanRefer benchmark and demonstrate state-of-the-art zero-shot grounding accuracy. Our findings indicate that LLMs significantly improve the grounding capability, especially for complex language queries, making LLM-Grounder an effective approach for 3D vision-language tasks in robotics. Videos and interactive demos can be found on the project website https://chat-with-nerf.github.io/ .

With the recent significant advancements in large multi-modal models (LMMs), the importance of their grounding capability in visual chat is increasingly recognized. Despite recent efforts to enable LMMs to support grounding, their capabilities for grounding and chat are usually separate, and their chat performance drops dramatically when asked to ground. The problem is the lack of a dataset for grounded visual chat (GVC). Existing grounding datasets only contain short captions. To address this issue, we have created GVC data that allows for the combination of grounding and chat capabilities. To better evaluate the GVC capabilities, we have introduced a benchmark called Grounding-Bench. Additionally, we have proposed a model design that can support GVC and various types of visual prompts by connecting segmentation models with language models. Experimental results demonstrate that our model outperforms other LMMs on Grounding-Bench. Furthermore, our model achieves competitive performance on classic grounding benchmarks like RefCOCO/+/g and Flickr30K Entities. Our code will be released at https://github.com/UX-Decoder/LLaVA-Grounding .

Traditional visual grounding methods primarily focus on single-image scenarios with simple textual references. However, extending these methods to real-world scenarios that involve implicit and complex instructions, particularly in conjunction with multiple images, poses significant challenges, which is mainly due to the lack of advanced reasoning ability across diverse multi-modal contexts. In this work, we aim to address the more practical universal grounding task, and propose UniVG-R1, a reasoning guided multimodal large language model (MLLM) for universal visual grounding, which enhances reasoning capabilities through reinforcement learning (RL) combined with cold-start data. Specifically, we first construct a high-quality Chain-of-Thought (CoT) grounding dataset, annotated with detailed reasoning chains, to guide the model towards correct reasoning paths via supervised fine-tuning. Subsequently, we perform rule-based reinforcement learning to encourage the model to identify correct reasoning chains, thereby incentivizing its reasoning capabilities. In addition, we identify a difficulty bias arising from the prevalence of easy samples as RL training progresses, and we propose a difficulty-aware weight adjustment strategy to further strengthen the performance. Experimental results demonstrate the effectiveness of UniVG-R1, which achieves state-of-the-art performance on MIG-Bench with a 9.1% improvement over the previous method. Furthermore, our model exhibits strong generalizability, achieving an average improvement of 23.4% in zero-shot performance across four image and video reasoning grounding benchmarks. The project page can be accessed at https://amap-ml.github.io/UniVG-R1-page/.

Grounding natural language in physical 3D environments is essential for the advancement of embodied artificial intelligence. Current datasets and models for 3D visual grounding predominantly focus on identifying and localizing objects from static, object-centric descriptions. These approaches do not adequately address the dynamic and sequential nature of task-oriented grounding necessary for practical applications. In this work, we propose a new task: Task-oriented Sequential Grounding in 3D scenes, wherein an agent must follow detailed step-by-step instructions to complete daily activities by locating a sequence of target objects in indoor scenes. To facilitate this task, we introduce SG3D, a large-scale dataset containing 22,346 tasks with 112,236 steps across 4,895 real-world 3D scenes. The dataset is constructed using a combination of RGB-D scans from various 3D scene datasets and an automated task generation pipeline, followed by human verification for quality assurance. We adapted three state-of-the-art 3D visual grounding models to the sequential grounding task and evaluated their performance on SG3D. Our results reveal that while these models perform well on traditional benchmarks, they face significant challenges with task-oriented sequential grounding, underscoring the need for further research in this area.

With the development of multimodal reasoning models, Computer Use Agents (CUAs), akin to Jarvis from "Iron Man", are becoming a reality. GUI grounding is a core component for CUAs to execute actual actions, similar to mechanical control in robotics, and it directly leads to the success or failure of the system. It determines actions such as clicking and typing, as well as related parameters like the coordinates for clicks. Current end-to-end grounding models still achieve less than 65\% accuracy on challenging benchmarks like ScreenSpot-pro and UI-Vision, indicating they are far from being ready for deployment. % , as a single misclick can result in unacceptable consequences. In this work, we conduct an empirical study on the training of grounding models, examining details from data collection to model training. Ultimately, we developed the Phi-Ground model family, which achieves state-of-the-art performance across all five grounding benchmarks for models under 10B parameters in agent settings. In the end-to-end model setting, our model still achieves SOTA results with scores of \textbf{43.2} on ScreenSpot-pro and \textbf{27.2} on UI-Vision. We believe that the various details discussed in this paper, along with our successes and failures, not only clarify the construction of grounding models but also benefit other perception tasks. Project homepage: https://zhangmiaosen2000.github.io/Phi-Ground/{https://zhangmiaosen2000.github.io/Phi-Ground/}

Recent advances in large language models (LLMs) have demonstrated the power of reasoning through self-generated chains of thought. Multiple reasoning agents can collaborate to raise joint reasoning quality above individual outcomes. However, such agents typically interact in a turn-based manner, trading increased latency for improved quality. In this paper, we propose Group Think--a single LLM that acts as multiple concurrent reasoning agents, or thinkers. With shared visibility into each other's partial generation progress, Group Think introduces a new concurrent-reasoning paradigm in which multiple reasoning trajectories adapt dynamically to one another at the token level. For example, a reasoning thread may shift its generation mid-sentence upon detecting that another thread is better positioned to continue. This fine-grained, token-level collaboration enables Group Think to reduce redundant reasoning and improve quality while achieving significantly lower latency. Moreover, its concurrent nature allows for efficient utilization of idle computational resources, making it especially suitable for edge inference, where very small batch size often underutilizes local~GPUs. We give a simple and generalizable modification that enables any existing LLM to perform Group Think on a local GPU. We also present an evaluation strategy to benchmark reasoning latency and empirically demonstrate latency improvements using open-source LLMs that were not explicitly trained for Group Think. We hope this work paves the way for future LLMs to exhibit more sophisticated and more efficient collaborative behavior for higher quality generation.

Knowledge-dependent tasks typically use two sources of knowledge: parametric, learned at training time, and contextual, given as a passage at inference time. To understand how models use these sources together, we formalize the problem of knowledge conflicts, where the contextual information contradicts the learned information. Analyzing the behaviour of popular models, we measure their over-reliance on memorized information (the cause of hallucinations), and uncover important factors that exacerbate this behaviour. Lastly, we propose a simple method to mitigate over-reliance on parametric knowledge, which minimizes hallucination, and improves out-of-distribution generalization by 4%-7%. Our findings demonstrate the importance for practitioners to evaluate model tendency to hallucinate rather than read, and show that our mitigation strategy encourages generalization to evolving information (i.e., time-dependent queries). To encourage these practices, we have released our framework for generating knowledge conflicts.

Grounding the reasoning ability of large language models (LLMs) for embodied tasks is challenging due to the complexity of the physical world. Especially, LLM planning for multi-agent collaboration requires communication of agents or credit assignment as the feedback to re-adjust the proposed plans and achieve effective coordination. However, existing methods that overly rely on physical verification or self-reflection suffer from excessive and inefficient querying of LLMs. In this paper, we propose a novel framework for multi-agent collaboration that introduces Reinforced Advantage feedback (ReAd) for efficient self-refinement of plans. Specifically, we perform critic regression to learn a sequential advantage function from LLM-planned data, and then treat the LLM planner as an optimizer to generate actions that maximize the advantage function. It endows the LLM with the foresight to discern whether the action contributes to accomplishing the final task. We provide theoretical analysis by extending advantage-weighted regression in reinforcement learning to multi-agent systems. Experiments on Overcooked-AI and a difficult variant of RoCoBench show that ReAd surpasses baselines in success rate, and also significantly decreases the interaction steps of agents and query rounds of LLMs, demonstrating its high efficiency for grounding LLMs. More results are given at https://read-llm.github.io/.

Although great progress has been made in 3D visual grounding, current models still rely on explicit textual descriptions for grounding and lack the ability to reason human intentions from implicit instructions. We propose a new task called 3D reasoning grounding and introduce a new benchmark ScanReason which provides over 10K question-answer-location pairs from five reasoning types that require the synerization of reasoning and grounding. We further design our approach, ReGround3D, composed of the visual-centric reasoning module empowered by Multi-modal Large Language Model (MLLM) and the 3D grounding module to obtain accurate object locations by looking back to the enhanced geometry and fine-grained details from the 3D scenes. A chain-of-grounding mechanism is proposed to further boost the performance with interleaved reasoning and grounding steps during inference. Extensive experiments on the proposed benchmark validate the effectiveness of our proposed approach.

Multi-agent collaborative perception (MCP) has recently attracted much attention. It includes three key processes: communication for sharing, collaboration for integration, and reconstruction for different downstream tasks. Existing methods pursue designing the collaboration process alone, ignoring their intrinsic interactions and resulting in suboptimal performance. In contrast, we aim to propose a Unified Collaborative perception framework named UMC, optimizing the communication, collaboration, and reconstruction processes with the Multi-resolution technique. The communication introduces a novel trainable multi-resolution and selective-region (MRSR) mechanism, achieving higher quality and lower bandwidth. Then, a graph-based collaboration is proposed, conducting on each resolution to adapt the MRSR. Finally, the reconstruction integrates the multi-resolution collaborative features for downstream tasks. Since the general metric can not reflect the performance enhancement brought by MCP systematically, we introduce a brand-new evaluation metric that evaluates the MCP from different perspectives. To verify our algorithm, we conducted experiments on the V2X-Sim and OPV2V datasets. Our quantitative and qualitative experiments prove that the proposed UMC greatly outperforms the state-of-the-art collaborative perception approaches.

What if accessing the web did not require a screen, a stable desk, or even free hands? For people navigating crowded cities, living with low vision, or experiencing cognitive overload, smart glasses coupled with AI agents could turn the web into an always-on assistive layer over daily life. We present Egocentric Co-Pilot, a web-native neuro-symbolic framework that runs on smart glasses and uses a Large Language Model (LLM) to orchestrate a toolbox of perception, reasoning, and web tools. An egocentric reasoning core combines Temporal Chain-of-Thought with Hierarchical Context Compression to support long-horizon question answering and decision support over continuous first-person video, far beyond a single model's context window. Additionally, a lightweight multimodal intent layer maps noisy speech and gaze into structured commands. We further implement and evaluate a cloud-native WebRTC pipeline integrating streaming speech, video, and control messages into a unified channel for smart glasses and browsers. In parallel, we deploy an on-premise WebSocket baseline, exposing concrete trade-offs between local inference and cloud offloading in terms of latency, mobility, and resource use. Experiments on Egolife and HD-EPIC demonstrate competitive or state-of-the-art egocentric QA performance, and a human-in-the-loop study on smart glasses shows higher task completion and user satisfaction than leading commercial baselines. Taken together, these results indicate that web-connected egocentric co-pilots can be a practical path toward more accessible, context-aware assistance in everyday life. By grounding operation in web-native communication primitives and modular, auditable tool use, Egocentric Co-Pilot offers a concrete blueprint for assistive, always-on web agents that support education, accessibility, and social inclusion for people who may benefit most from contextual, egocentric AI.

The recent development on large multimodal models (LMMs), especially GPT-4V(ision) and Gemini, has been quickly expanding the capability boundaries of multimodal models beyond traditional tasks like image captioning and visual question answering. In this work, we explore the potential of LMMs like GPT-4V as a generalist web agent that can follow natural language instructions to complete tasks on any given website. We propose SEEACT, a generalist web agent that harnesses the power of LMMs for integrated visual understanding and acting on the web. We evaluate on the recent MIND2WEB benchmark. In addition to standard offline evaluation on cached websites, we enable a new online evaluation setting by developing a tool that allows running web agents on live websites. We show that GPT-4V presents a great potential for web agents - it can successfully complete 50% of the tasks on live websites if we manually ground its textual plans into actions on the websites. This substantially outperforms text-only LLMs like GPT-4 or smaller models (FLAN-T5 and BLIP-2) specifically fine-tuned for web agents. However, grounding still remains a major challenge. Existing LMM grounding strategies like set-of-mark prompting turns out not effective for web agents, and the best grounding strategy we develop in this paper leverages both the HTML text and visuals. Yet, there is still a substantial gap with oracle grounding, leaving ample room for further improvement.

Large language models (LLMs) have demonstrated a remarkable ability to serve as general-purpose tools for various language-based tasks. Recent works have demonstrated that the efficacy of such models can be improved through iterative dialog between multiple models. While these paradigms show promise in improving model efficacy, most works in this area treat collaboration as an emergent behavior, rather than a learned behavior. In doing so, current multi-agent frameworks rely on collaborative behaviors to have been sufficiently trained into off-the-shelf models. To address this limitation, we propose ACC-Collab, an Actor-Critic based learning framework to produce a two-agent team (an actor-agent and a critic-agent) specialized in collaboration. We demonstrate that ACC-Collab outperforms SotA multi-agent techniques on a wide array of benchmarks.

Collaborative perception (CP) is emerging as a promising solution to the inherent limitations of stand-alone intelligence. However, current wireless communication systems are unable to support feature-level and raw-level collaborative algorithms due to their enormous bandwidth demands. In this paper, we propose DiffCP, a novel CP paradigm that utilizes a specialized diffusion model to efficiently compress the sensing information of collaborators. By incorporating both geometric and semantic conditions into the generative model, DiffCP enables feature-level collaboration with an ultra-low communication cost, advancing the practical implementation of CP systems. This paradigm can be seamlessly integrated into existing CP algorithms to enhance a wide range of downstream tasks. Through extensive experimentation, we investigate the trade-offs between communication, computation, and performance. Numerical results demonstrate that DiffCP can significantly reduce communication costs by 14.5-fold while maintaining the same performance as the state-of-the-art algorithm.

Most real-world domains can be formulated as multi-agent (MA) systems. Intentionality sharing agents can solve more complex tasks by collaborating, possibly in less time. True cooperative actions are beneficial for egoistic and collective reasons. However, teaching individual agents to sacrifice egoistic benefits for a better collective performance seems challenging. We build on a recently proposed Multi-Agent Reinforcement Learning (MARL) mechanism with a Graph Neural Network (GNN) communication layer. Rarely chosen communication actions were marginally beneficial. Here we propose a MARL system in which agents can help collaborators perform better while risking low individual performance. We conduct our study in the context of resource distribution for wildfire management. Communicating environmental features and partially observable fire occurrence help the agent collective to pre-emptively distribute resources. Furthermore, we introduce a procedural training environment accommodating auto-curricula and open-endedness towards better generalizability. Our MA communication proposal outperforms a Greedy Heuristic Baseline and a Single-Agent (SA) setup. We further demonstrate how auto-curricula and openendedness improves generalizability of our MA proposal.

We present a task and benchmark dataset for person-centric visual grounding, the problem of linking between people named in a caption and people pictured in an image. In contrast to prior work in visual grounding, which is predominantly object-based, our new task masks out the names of people in captions in order to encourage methods trained on such image-caption pairs to focus on contextual cues (such as rich interactions between multiple people), rather than learning associations between names and appearances. To facilitate this task, we introduce a new dataset, Who's Waldo, mined automatically from image-caption data on Wikimedia Commons. We propose a Transformer-based method that outperforms several strong baselines on this task, and are releasing our data to the research community to spur work on contextual models that consider both vision and language.

Collaborative perception aims to mitigate the limitations of single-agent perception, such as occlusions, by facilitating data exchange among multiple agents. However, most current works consider a homogeneous scenario where all agents use identity sensors and perception models. In reality, heterogeneous agent types may continually emerge and inevitably face a domain gap when collaborating with existing agents. In this paper, we introduce a new open heterogeneous problem: how to accommodate continually emerging new heterogeneous agent types into collaborative perception, while ensuring high perception performance and low integration cost? To address this problem, we propose HEterogeneous ALliance (HEAL), a novel extensible collaborative perception framework. HEAL first establishes a unified feature space with initial agents via a novel multi-scale foreground-aware Pyramid Fusion network. When heterogeneous new agents emerge with previously unseen modalities or models, we align them to the established unified space with an innovative backward alignment. This step only involves individual training on the new agent type, thus presenting extremely low training costs and high extensibility. To enrich agents' data heterogeneity, we bring OPV2V-H, a new large-scale dataset with more diverse sensor types. Extensive experiments on OPV2V-H and DAIR-V2X datasets show that HEAL surpasses SOTA methods in performance while reducing the training parameters by 91.5% when integrating 3 new agent types. We further implement a comprehensive codebase at: https://github.com/yifanlu0227/HEAL

Large language models (LLMs) still produce plausible-sounding but ungrounded factual claims, a problem that worsens in multi-turn dialogue as context grows and early errors cascade. We introduce HalluHard, a challenging multi-turn hallucination benchmark with 950 seed questions spanning four high-stakes domains: legal cases, research questions, medical guidelines, and coding. We operationalize groundedness by requiring inline citations for factual assertions. To support reliable evaluation in open-ended settings, we propose a judging pipeline that iteratively retrieves evidence via web search. It can fetch, filter, and parse full-text sources (including PDFs) to assess whether cited material actually supports the generated content. Across a diverse set of frontier proprietary and open-weight models, hallucinations remain substantial even with web search (approx 30% for the strongest configuration, Opus-4.5 with web search), with content-grounding errors persisting at high rates. Finally, we show that hallucination behavior is shaped by model capacity, turn position, effective reasoning, and the type of knowledge required.

Dialog models can be greatly strengthened through grounding on various external information, but grounded dialog corpora are usually not naturally accessible. In this work, we focus on the few-shot learning for grounded dialog generation (GDG). We first propose a simple prompting method for GDG tasks, where different constructs of model input, such as the grounding source and the conversation context, are distinguished through continuous or discrete prompts. On three typical GDG tasks, we empirically demonstrate and analyze in-depth the effectiveness of our method. We then conduct extensive experiments to thoroughly investigate how our prompting method works with different pre-trained models. We show that prompted language models perform superiorly to conversational models, and further analyze various factors that influence the effects of prompting. Overall, our work introduces a prompt-based perspective to the few-shot learning for GDG tasks, and provides valuable findings and insights for future research.

Current large multimodal models (LMMs) face challenges in grounding, which requires the model to relate language components to visual entities. Contrary to the common practice that fine-tunes LMMs with additional grounding supervision, we find that the grounding ability can in fact emerge in LMMs trained without explicit grounding supervision. To reveal this emerging grounding, we introduce an "attend-and-segment" method which leverages attention maps from standard LMMs to perform pixel-level segmentation. Furthermore, to enhance the grounding ability, we propose DIFFLMM, an LMM utilizing a diffusion-based visual encoder, as opposed to the standard CLIP visual encoder, and trained with the same weak supervision. Without being constrained by the biases and limited scale of grounding-specific supervision data, our approach is more generalizable and scalable. We achieve competitive performance on both grounding-specific and general visual question answering benchmarks, compared with grounding LMMs and generalist LMMs, respectively. Notably, we achieve a 44.2 grounding mask recall on grounded conversation generation without any grounding supervision, outperforming the extensively supervised model GLaMM. Project page: https://GroundLMM-ICCV.github.io.

While LLMs exhibit remarkable fluency, their utility is often compromised by factual hallucinations and a lack of traceable provenance. Existing resources for grounding mitigate this but typically enforce a dichotomy: they offer either structured knowledge without textual context (e.g., knowledge bases) or grounded text with limited scale and linguistic coverage. To bridge this gap, we introduce FactNet, a massive, open-source resource designed to unify 1.7 billion atomic assertions with 3.01 billion auditable evidence pointers derived exclusively from 316 Wikipedia editions. Unlike recent synthetic approaches, FactNet employs a strictly deterministic construction pipeline, ensuring that every evidence unit is recoverable with byte-level precision. Extensive auditing confirms a high grounding precision of 92.1%, even in long-tail languages. Furthermore, we establish FactNet-Bench, a comprehensive evaluation suite for Knowledge Graph Completion, Question Answering, and Fact Checking. FactNet provides the community with a foundational, reproducible resource for training and evaluating trustworthy, verifiable multilingual systems.

Spatial grounding, the process of associating natural language expressions with corresponding image regions, has rapidly advanced due to the introduction of transformer-based models, significantly enhancing multimodal representation and cross-modal alignment. Despite this progress, the field lacks a comprehensive synthesis of current methodologies, dataset usage, evaluation metrics, and industrial applicability. This paper presents a systematic literature review of transformer-based spatial grounding approaches from 2018 to 2025. Our analysis identifies dominant model architectures, prevalent datasets, and widely adopted evaluation metrics, alongside highlighting key methodological trends and best practices. This study provides essential insights and structured guidance for researchers and practitioners, facilitating the development of robust, reliable, and industry-ready transformer-based spatial grounding models.

Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems leverage existing foundation models as the basic building blocks for the creation of embodied agents. Embedding agents within such environments facilitates the ability of models to process and interpret visual and contextual data, which is critical for the creation of more sophisticated and context-aware AI systems. For example, a system that can perceive user actions, human behavior, environmental objects, audio expressions, and the collective sentiment of a scene can be used to inform and direct agent responses within the given environment. To accelerate research on agent-based multimodal intelligence, we define "Agent AI" as a class of interactive systems that can perceive visual stimuli, language inputs, and other environmentally-grounded data, and can produce meaningful embodied action with infinite agent. In particular, we explore systems that aim to improve agents based on next-embodied action prediction by incorporating external knowledge, multi-sensory inputs, and human feedback. We argue that by developing agentic AI systems in grounded environments, one can also mitigate the hallucinations of large foundation models and their tendency to generate environmentally incorrect outputs. The emerging field of Agent AI subsumes the broader embodied and agentic aspects of multimodal interactions. Beyond agents acting and interacting in the physical world, we envision a future where people can easily create any virtual reality or simulated scene and interact with agents embodied within the virtual environment.

Effective collaboration begins with knowing when to ask for help. For example, when trying to identify an occluded object, a human would ask someone to remove the obstruction. Can MLLMs exhibit a similar "proactive" behavior by requesting simple user interventions? To investigate this, we introduce ProactiveBench, a benchmark built from seven repurposed datasets that tests proactiveness across different tasks such as recognizing occluded objects, enhancing image quality, and interpreting coarse sketches. We evaluate 22 MLLMs on ProactiveBench, showing that (i) they generally lack proactiveness; (ii) proactiveness does not correlate with model capacity; (iii) "hinting" at proactiveness yields only marginal gains. Surprisingly, we found that conversation histories and in-context learning introduce negative biases, hindering performance. Finally, we explore a simple fine-tuning strategy based on reinforcement learning: its results suggest that proactiveness can be learned, even generalizing to unseen scenarios. We publicly release ProactiveBench as a first step toward building proactive multimodal models.

Large multimodal models (LMMs) have rapidly advanced in perception and reasoning; however, it remains unclear whether these capabilities generalize to discovering visually grounded solutions in open-ended environments, beyond pattern recognition. In such settings, intelligence requires more than answering well-posed questions: it involves identifying how elements in a scene can be repurposed in non-obvious yet physically feasible ways. This form of creative problem-solving is central to human intelligence, but remains largely untested in current benchmarks. To evaluate this ability, we introduce MM-CreativityBench, a benchmark for affordance-grounded creative tool use in visually rich, physically constrained environments. Each instance presents a scenario image with structured views of candidate entities and their parts, enabling fine-grained, interactive evaluation of how models iteratively inspect the scene, identify relevant affordances, and compose visually and physically grounded solutions. Our experiments show that current LMMs often fall short, not due to lack of generative capability, but because they do not sustain grounded exploration. Models often overlook relevant entities, under-examine critical parts, or hallucinate attributes not grounded in the image. Motivated by this failure mode, we propose affordance-grounded alignment, which casts creative tool use as a preference learning problem. Using Direct Preference Optimization, we encourage models to prefer attribute-affordance reasoning grounded in visual evidence over hallucinated alternatives. In addition, we incorporate supervision derived from an affordance knowledge base to guide broader entity exploration and multi-turn planning. Our results show consistent gains in selecting the correct entities and parts, while substantially reducing hallucination and grounding-related errors.

Visual grounding, localizing objects from natural language descriptions, represents a critical bridge between language and vision understanding. While multimodal large language models (MLLMs) achieve impressive scores on existing benchmarks, a fundamental question remains: can MLLMs truly ground language in vision with human-like sophistication, or are they merely pattern-matching on simplified datasets? Current benchmarks fail to capture real-world complexity where humans effortlessly navigate ambiguous references and recognize when grounding is impossible. To rigorously assess MLLMs' true capabilities, we introduce GroundingME, a benchmark that systematically challenges models across four critical dimensions: (1) Discriminative, distinguishing highly similar objects, (2) Spatial, understanding complex relational descriptions, (3) Limited, handling occlusions or tiny objects, and (4) Rejection, recognizing ungroundable queries. Through careful curation combining automated generation with human verification, we create 1,005 challenging examples mirroring real-world complexity. Evaluating 25 state-of-the-art MLLMs reveals a profound capability gap: the best model achieves only 45.1% accuracy, while most score 0% on rejection tasks, reflexively hallucinating objects rather than acknowledging their absence, raising critical safety concerns for deployment. We explore two strategies for improvements: (1) test-time scaling selects optimal response by thinking trajectory to improve complex grounding by up to 2.9%, and (2) data-mixture training teaches models to recognize ungroundable queries, boosting rejection accuracy from 0% to 27.9%. GroundingME thus serves as both a diagnostic tool revealing current limitations in MLLMs and a roadmap toward human-level visual grounding.

Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, theoretical and experimental investigations of novel works for collaborative perception have increased tremendously. So far, however, few reviews have focused on systematical collaboration modules and large-scale collaborative perception datasets. This work reviews recent achievements in this field to bridge this gap and motivate future research. We start with a brief overview of collaboration schemes. After that, we systematically summarize the collaborative perception methods for ideal scenarios and real-world issues. The former focuses on collaboration modules and efficiency, and the latter is devoted to addressing the problems in actual application. Furthermore, we present large-scale public datasets and summarize quantitative results on these benchmarks. Finally, we highlight gaps and overlook challenges between current academic research and real-world applications. The project page is https://github.com/CatOneTwo/Collaborative-Perception-in-Autonomous-Driving

Recently, remarkable progress has been made in automated task-solving through the use of multi-agent driven by large language models (LLMs). However, existing LLM-based multi-agent works primarily focus on solving simple dialogue tasks, and complex tasks are rarely studied, mainly due to the LLM hallucination problem. This type of hallucination becomes cascading when naively chaining multiple intelligent agents, resulting in a failure to effectively address complex problems. Therefore, we introduce MetaGPT, an innovative framework that incorporates efficient human workflows as a meta programming approach into LLM-based multi-agent collaboration. Specifically, MetaGPT encodes Standardized Operating Procedures (SOPs) into prompts to enhance structured coordination. Subsequently, it mandates modular outputs, empowering agents with domain expertise comparable to human professionals, to validate outputs and minimize compounded errors. In this way, MetaGPT leverages the assembly line paradigm to assign diverse roles to various agents, thereby establishing a framework that can effectively and cohesively deconstruct complex multi-agent collaborative problems. Our experiments on collaborative software engineering benchmarks demonstrate that MetaGPT generates more coherent and correct solutions compared to existing chat-based multi-agent systems. This highlights the potential of integrating human domain knowledge into multi-agent systems, thereby creating new opportunities to tackle complex real-world challenges. The GitHub repository of this project is publicly available on:https://github.com/geekan/MetaGPT.

Leveraging multiple Large Language Models(LLMs) has proven effective for addressing complex, high-dimensional tasks, but current approaches often rely on static, manually engineered multi-agent configurations. To overcome these constraints, we present the Agentic Neural Network(ANN), a framework that conceptualizes multi-agent collaboration as a layered neural network architecture. In this design, each agent operates as a node, and each layer forms a cooperative "team" focused on a specific subtask. Agentic Neural Network follows a two-phase optimization strategy: (1) Forward Phase-Drawing inspiration from neural network forward passes, tasks are dynamically decomposed into subtasks, and cooperative agent teams with suitable aggregation methods are constructed layer by layer. (2) Backward Phase-Mirroring backpropagation, we refine both global and local collaboration through iterative feedback, allowing agents to self-evolve their roles, prompts, and coordination. This neuro-symbolic approach enables ANN to create new or specialized agent teams post-training, delivering notable gains in accuracy and adaptability. Across four benchmark datasets, ANN surpasses leading multi-agent baselines under the same configurations, showing consistent performance improvements. Our findings indicate that ANN provides a scalable, data-driven framework for multi-agent systems, combining the collaborative capabilities of LLMs with the efficiency and flexibility of neural network principles. We plan to open-source the entire framework.

In situated collaboration, speakers often use intentionally underspecified deictic commands (e.g., ``pass me that''), whose referent becomes identifiable only by aligning speech with a brief co-speech pointing stroke. However, many embodied benchmarks admit language-only shortcuts, allowing MLLMs to perform well without learning the audio--visual alignment required by deictic interaction. To bridge this gap, we introduce Egocentric Co-Speech Grounding (EcoG), where grounding is executable only if an agent jointly predicts What, Where, and When. To operationalize this, we present EcoG-Bench, an evaluation-only bilingual (EN/ZH) diagnostic benchmark of 811 egocentric clips with dense spatial annotations and millisecond-level stroke supervision. It is organized under a Progressive Cognitive Evaluation protocol. Benchmarking state-of-the-art MLLMs reveals a severe executability gap: while human subjects achieve near-ceiling performance on EcoG-Bench (96.9\% strict Eco-Accuracy), the best native video-audio setting remains low (Gemini-3-Pro: 17.0\%). Moreover, in a diagnostic ablation, replacing the native video--audio interface with timestamped frame samples and externally verified ASR (with word-level timing) substantially improves the same model (17.0\%to42.9\%). Overall, EcoG-Bench provides a strict, executable testbed for event-level speech--gesture binding, and suggests that multimodal interfaces may bottleneck the observability of temporal alignment cues, independently of model reasoning.

Enabling effective collaboration among LLMs is a crucial step toward developing autonomous systems capable of solving complex problems. While LLMs are typically used as single-model generators, where humans critique and refine their outputs, the potential for jointly-trained collaborative models remains largely unexplored. Despite promising results in multi-agent communication and debate settings, little progress has been made in training models to work together on tasks. In this paper, we present a first step toward "Multi-agent LLM training" (MALT) on reasoning problems. Our approach employs a sequential multi-agent setup with heterogeneous LLMs assigned specialized roles: a generator, verifier, and refinement model iteratively solving problems. We propose a trajectory-expansion-based synthetic data generation process and a credit assignment strategy driven by joint outcome based rewards. This enables our post-training setup to utilize both positive and negative trajectories to autonomously improve each model's specialized capabilities as part of a joint sequential system. We evaluate our approach across MATH, GSM8k, and CQA, where MALT on Llama 3.1 8B models achieves relative improvements of 14.14%, 7.12%, and 9.40% respectively over the same baseline model. This demonstrates an early advance in multi-agent cooperative capabilities for performance on mathematical and common sense reasoning questions. More generally, our work provides a concrete direction for research around multi-agent LLM training approaches.

Effective human-agent collaboration is increasingly prevalent in real-world applications. Current trends in such collaborations are predominantly unidirectional, with users providing instructions or posing questions to agents, where agents respond directly without seeking necessary clarifications or confirmations. However, the evolving capabilities of these agents require more proactive engagement, where agents should dynamically participate in conversations to clarify user intents, resolve ambiguities, and adapt to changing circumstances. Existing prior work under-utilize the conversational capabilities of language models (LMs), thereby optimizing agents as better followers rather than effective speakers. In this work, we introduce SpeakRL, a reinforcement learning (RL) method that enhances agents' conversational capabilities by rewarding proactive interactions with users, such as asking right clarification questions when necessary. To support this, we curate SpeakER, a synthetic dataset that includes diverse scenarios from task-oriented dialogues, where tasks are resolved through interactive clarification questions. We present a systematic analysis of reward design for conversational proactivity and propose a principled reward formulation for teaching agents to balance asking with acting. Empirical evaluations demonstrate that our approach achieves a 20.14% absolute improvement in task completion over base models without increasing conversation turns even surpassing even much larger proprietary models, demonstrating the promise of clarification-centric user-agent interactions.

Today's video-conferencing tools support a rich range of professional and social activities, but their generic, grid-based environments cannot be easily adapted to meet the varying needs of distributed collaborators. To enable end-user customization, we developed BlendScape, a system for meeting participants to compose video-conferencing environments tailored to their collaboration context by leveraging AI image generation techniques. BlendScape supports flexible representations of task spaces by blending users' physical or virtual backgrounds into unified environments and implements multimodal interaction techniques to steer the generation. Through an evaluation with 15 end-users, we investigated their customization preferences for work and social scenarios. Participants could rapidly express their design intentions with BlendScape and envisioned using the system to structure collaboration in future meetings, but experienced challenges with preventing distracting elements. We implement scenarios to demonstrate BlendScape's expressiveness in supporting distributed collaboration techniques from prior work and propose composition techniques to improve the quality of environments.

As conversational agents accumulate experience collaborating with users, adapting to user preferences is essential for fostering long-term relationships and improving collaboration quality over time. We introduce MultiSessionCollab, a benchmark that evaluates how well agents can learn user preferences and leverage them to improve collaboration quality throughout multiple sessions. To develop agents that succeed in this setting, we present long-term collaborative agents equipped with a memory that persists and refines user preference as interaction experience accumulates. Moreover, we demonstrate that learning signals can be derived from user simulator behavior in MultiSessionCollab to train agents to generate more comprehensive reflections and update their memory more effectively. Extensive experiments show that equipping agents with memory improves long-term collaboration, yielding higher task success rates, more efficient interactions, and reduced user effort. Finally, we conduct a human user study that demonstrates that memory helps improve user experience in real-world settings.

Uncertainty estimation is a significant issue for current large language models (LLMs) that are generally poorly calibrated and over-confident, especially with reinforcement learning from human feedback (RLHF). Unlike humans, whose decisions and confidences not only stem from intrinsic beliefs but can also be adjusted through daily observations, existing calibration methods for LLMs focus on estimating or eliciting individual confidence without taking full advantage of the "Collective Wisdom": the interaction among multiple LLMs that can collectively improve both accuracy and calibration. In this work, we propose Collaborative Calibration, a post-hoc training-free calibration strategy that leverages the collaborative and expressive capabilities of multiple tool-augmented LLM agents in a simulated group deliberation process. We demonstrate the effectiveness of Collaborative Calibration on generative QA tasks across various domains, showing its potential in harnessing the rationalization of collectively calibrated confidence assessments and improving the reliability of model predictions.

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To address this challenge, we propose using pretrained vision-language models (VLMs) to supervise embodied agents. We combine ideas from model distillation and hindsight experience replay (HER), using a VLM to retroactively generate language describing the agent's behavior. Simple prompting allows us to control the supervision signal, teaching an agent to interact with novel objects based on their names (e.g., planes) or their features (e.g., colors) in a 3D rendered environment. Fewshot prompting lets us teach abstract category membership, including pre-existing categories (food vs toys) and ad-hoc ones (arbitrary preferences over objects). Our work outlines a new and effective way to use internet-scale VLMs, repurposing the generic language grounding acquired by such models to teach task-relevant groundings to embodied agents.

Recent studies in text-to-image customization show great success in generating personalized object variants given several images of a subject. While existing methods focus more on preserving the identity of the subject, they often fall short of controlling the spatial relationship between objects. In this work, we introduce GroundingBooth, a framework that achieves zero-shot instance-level spatial grounding on both foreground subjects and background objects in the text-to-image customization task. Our proposed text-image grounding module and masked cross-attention layer allow us to generate personalized images with both accurate layout alignment and identity preservation while maintaining text-image coherence. With such layout control, our model inherently enables the customization of multiple subjects at once. Our model is evaluated on both layout-guided image synthesis and reference-based customization tasks, showing strong results compared to existing methods. Our work is the first work to achieve a joint grounding on both subject-driven foreground generation and text-driven background generation.

The rise of unifying frameworks that enable seamless interoperability of Large Language Models (LLMs) has made LLM-LLM collaboration for open-ended tasks a possibility. Despite this, there have not been efforts to explore such collaborative writing. We take the next step beyond human-LLM collaboration to explore this multi-LLM scenario by generating the first exclusively LLM-generated collaborative stories dataset called CollabStory. We focus on single-author (N=1) to multi-author (up to N=5) scenarios, where multiple LLMs co-author stories. We generate over 32k stories using open-source instruction-tuned LLMs. Further, we take inspiration from the PAN tasks that have set the standard for human-human multi-author writing tasks and analysis. We extend their authorship-related tasks for multi-LLM settings and present baselines for LLM-LLM collaboration. We find that current baselines are not able to handle this emerging scenario. Thus, CollabStory is a resource that could help propel an understanding as well as the development of techniques to discern the use of multiple LLMs. This is crucial to study in the context of writing tasks since LLM-LLM collaboration could potentially overwhelm ongoing challenges related to plagiarism detection, credit assignment, maintaining academic integrity in educational settings, and addressing copyright infringement concerns. We make our dataset and code available at \url{https://github.com/saranya-venkatraman/multi_llm_story_writing}.

Multi-agent sequential decision-making powers many real-world systems, from autonomous vehicles and robotics to collaborative AI assistants. In dynamic, partially observable environments, communication is often what reduces uncertainty and makes collaboration possible. This survey reviews multi-agent communication (MA-Comm) through the Five Ws: who communicates with whom, what is communicated, when communication occurs, and why communication is beneficial. This framing offers a clean way to connect ideas across otherwise separate research threads. We trace how communication approaches have evolved across three major paradigms. In Multi-Agent Reinforcement Learning (MARL), early methods used hand-designed or implicit protocols, followed by end-to-end learned communication optimized for reward and control. While successful, these protocols are frequently task-specific and hard to interpret, motivating work on Emergent Language (EL), where agents can develop more structured or symbolic communication through interaction. EL methods, however, still struggle with grounding, generalization, and scalability, which has fueled recent interest in large language models (LLMs) that bring natural language priors for reasoning, planning, and collaboration in more open-ended settings. Across MARL, EL, and LLM-based systems, we highlight how different choices shape communication design, where the main trade-offs lie, and what remains unsolved. We distill practical design patterns and open challenges to support future hybrid systems that combine learning, language, and control for scalable and interpretable multi-agent collaboration.

GUI grounding is a critical component in building capable GUI agents. However, existing grounding benchmarks suffer from significant limitations: they either provide insufficient data volume and narrow domain coverage, or focus excessively on a single platform and require highly specialized domain knowledge. In this work, we present VenusBench-GD, a comprehensive, bilingual benchmark for GUI grounding that spans multiple platforms, enabling hierarchical evaluation for real-word applications. VenusBench-GD contributes as follows: (i) we introduce a large-scale, cross-platform benchmark with extensive coverage of applications, diverse UI elements, and rich annotated data, (ii) we establish a high-quality data construction pipeline for grounding tasks, achieving higher annotation accuracy than existing benchmarks, and (iii) we extend the scope of element grounding by proposing a hierarchical task taxonomy that divides grounding into basic and advanced categories, encompassing six distinct subtasks designed to evaluate models from complementary perspectives. Our experimental findings reveal critical insights: general-purpose multimodal models now match or even surpass specialized GUI models on basic grounding tasks. In contrast, advanced tasks, still favor GUI-specialized models, though they exhibit significant overfitting and poor robustness. These results underscore the necessity of comprehensive, multi-tiered evaluation frameworks.

Pioneering advancements in large language model-powered agents have underscored the design pattern of multi-agent collaboration, demonstrating that collective intelligence can surpass the capabilities of each individual. Inspired by the neural scaling law, which posits that increasing neurons leads to emergent abilities, this study investigates whether a similar principle applies to increasing agents in multi-agent collaboration. Technically, we propose multi-agent collaboration networks (MacNet), which utilize directed acyclic graphs to organize agents and streamline their interactive reasoning via topological ordering, with solutions derived from their dialogues. Extensive experiments show that MacNet consistently outperforms baseline models, enabling effective agent collaboration across various network topologies and supporting cooperation among more than a thousand agents. Notably, we observed a small-world collaboration phenomenon, where topologies resembling small-world properties achieved superior performance. Additionally, we identified a collaborative scaling law, indicating that normalized solution quality follows a logistic growth pattern as scaling agents, with collaborative emergence occurring much earlier than previously observed instances of neural emergence. The code and data will be available at https://github.com/OpenBMB/ChatDev.

Multimodal large language models (MLLMs) are transforming the capabilities of graphical user interface (GUI) agents, facilitating their transition from controlled simulations to complex, real-world applications across various platforms. However, the effectiveness of these agents hinges on the robustness of their grounding capability. Current GUI agents predominantly utilize text-based representations such as HTML or accessibility trees, which, despite their utility, often introduce noise, incompleteness, and increased computational overhead. In this paper, we advocate a human-like embodiment for GUI agents that perceive the environment entirely visually and directly take pixel-level operations on the GUI. The key is visual grounding models that can accurately map diverse referring expressions of GUI elements to their coordinates on the GUI across different platforms. We show that a simple recipe, which includes web-based synthetic data and slight adaptation of the LLaVA architecture, is surprisingly effective for training such visual grounding models. We collect the largest dataset for GUI visual grounding so far, containing 10M GUI elements and their referring expressions over 1.3M screenshots, and use it to train UGround, a strong universal visual grounding model for GUI agents. Empirical results on six benchmarks spanning three categories (grounding, offline agent, and online agent) show that 1) UGround substantially outperforms existing visual grounding models for GUI agents, by up to 20% absolute, and 2) agents with UGround outperform state-of-the-art agents, despite the fact that existing agents use additional text-based input while ours only uses visual perception. These results provide strong support for the feasibility and promises of GUI agents that navigate the digital world as humans do.

Knowledge-grounded conversation (KGC) shows excellent potential to deliver an engaging and informative response. However, existing approaches emphasize selecting one golden knowledge given a particular dialogue context, overlooking the one-to-many phenomenon in dialogue. As a result, the existing paradigm limits the diversity of knowledge selection and generation. To this end, we establish a multi-reference KGC dataset and propose a series of metrics to systematically assess the one-to-many efficacy of existing KGC models. Furthermore, to extend the hypothesis space of knowledge selection to enhance the mapping relationship between multiple knowledge and multiple responses, we devise a span-based variational model and optimize the model in a wake-sleep style with an ameliorated evidence lower bound objective to learn the one-to-many generalization. Both automatic and human evaluations demonstrate the efficacy of our approach.

Multi-agent collaboration with Large Language Models (LLMs) demonstrates proficiency in basic tasks, yet its efficiency in more complex scenarios remains unexplored. In gaming environments, these agents often face situations without established coordination protocols, requiring them to make intelligent inferences about teammates from limited data. This problem motivates the area of ad hoc teamwork, in which an agent may potentially cooperate with a variety of teammates to achieve a shared goal. Our study focuses on the ad hoc teamwork problem where the agent operates in an environment driven by natural language. Our findings reveal the potential of LLM agents in team collaboration, highlighting issues related to hallucinations in communication. To address this issue, we develop CodeAct, a general agent that equips LLM with enhanced memory and code-driven reasoning, enabling the repurposing of partial information for rapid adaptation to new teammates.

Test-Time Scaling (TTS) enhances the reasoning capabilities of large language models by allocating additional inference compute to explore the solution space. However, existing parallel TTS methods typically keep branches isolated during search: intermediate discoveries remain branch-private and cannot guide other branches in time. This information isolation causes substantial redundant exploration, as branches repeatedly rediscover information already found elsewhere and require more search steps to collect complete decision information needed to reach correct answers. To bridge this gap, we propose Collaborative Parallel Thinking (CPT), a training-free inference framework that enables search-time information sharing across parallel branches. CPT extracts compact intermediate information from ongoing branches, maintains a deduplicated query-level information pool, and broadcasts pool entries through the input context, allowing each branch in subsequent search steps to reuse discoveries made by other branches rather than rediscover the same information. Empirically, experiments on HMMT and AIME benchmarks show that CPT establishes a stronger accuracy--latency Pareto frontier than strong baselines across rollout budgets and model scales, highlighting search-time collaboration as an effective direction for efficient parallel TTS.

Multi-Agent Discussion (MAD) has garnered increasing attention very recently, where multiple LLM instances collaboratively solve problems via structured discussion. However, we find that current MAD methods easily suffer from discussion inconsistency, LLMs fail to reach a coherent solution, due to the misalignment between their individual contexts.In this paper, we introduce a multi-LLM context learning method (M2CL) that learns a context generator for each agent, capable of dynamically generating context instructions per discussion round via automatic information organization and refinement. Specifically, inspired by our theoretical insights on the context instruction, M2CL train the generators to control context coherence and output discrepancies via a carefully crafted self-adaptive mechanism.It enables LLMs to avoid premature convergence on majority noise and progressively reach the correct consensus. We evaluate M2CL on challenging tasks, including academic reasoning, embodied tasks, and mobile control. The results show that the performance of M2CL significantly surpasses existing methods by 20%--50%, while enjoying favorable transferability and computational efficiency.

Large Language Models (LLMs) have shown remarkable capabilities in general natural language processing tasks but often fall short in complex reasoning tasks. Recent studies have explored human-like problem-solving strategies, such as self-correct, to push further the boundary of single-model reasoning ability. In this work, we let a single model "step outside the box" by engaging multiple models to correct each other. We introduce a multi-agent collaboration strategy that emulates the academic peer review process. Each agent independently constructs its own solution, provides reviews on the solutions of others, and assigns confidence levels to its reviews. Upon receiving peer reviews, agents revise their initial solutions. Extensive experiments on three different types of reasoning tasks show that our collaboration approach delivers superior accuracy across all ten datasets compared to existing methods. Further study underscores the effectiveness of integrating confidence in reviews, demonstrates the superiority of feedback exchange over mere solution sharing, and highlights the role of capability and diversity in fostering successful collaboration.

In this paper, we propose the problem of collaborative perception, where robots can combine their local observations with those of neighboring agents in a learnable way to improve accuracy on a perception task. Unlike existing work in robotics and multi-agent reinforcement learning, we formulate the problem as one where learned information must be shared across a set of agents in a bandwidth-sensitive manner to optimize for scene understanding tasks such as semantic segmentation. Inspired by networking communication protocols, we propose a multi-stage handshake communication mechanism where the neural network can learn to compress relevant information needed for each stage. Specifically, a target agent with degraded sensor data sends a compressed request, the other agents respond with matching scores, and the target agent determines who to connect with (i.e., receive information from). We additionally develop the AirSim-CP dataset and metrics based on the AirSim simulator where a group of aerial robots perceive diverse landscapes, such as roads, grasslands, buildings, etc. We show that for the semantic segmentation task, our handshake communication method significantly improves accuracy by approximately 20% over decentralized baselines, and is comparable to centralized ones using a quarter of the bandwidth.

Current dialogue research primarily studies pairwise (two-party) conversations, and does not address the everyday setting where more than two speakers converse together. In this work, we both collect and evaluate multi-party conversations to study this more general case. We use the LIGHT environment to construct grounded conversations, where each participant has an assigned character to role-play. We thus evaluate the ability of language models to act as one or more characters in such conversations. Models require two skills that pairwise-trained models appear to lack: (1) being able to decide when to talk; (2) producing coherent utterances grounded on multiple characters. We compare models trained on our new dataset to existing pairwise-trained dialogue models, as well as large language models with few-shot prompting. We find that our new dataset, MultiLIGHT, which we will publicly release, can help bring significant improvements in the group setting.

A fundamental bottleneck in human-AI collaboration is the "intention expression gap," the difficulty for humans to effectively convey complex, high-dimensional thoughts to AI. This challenge often traps users in inefficient trial-and-error loops and is exacerbated by the diverse expertise levels of users. We reframe this problem from passive instruction following to a Socratic collaboration paradigm, proposing an agent that actively probes for information to resolve its uncertainty about user intent. we name the proposed agent Nous, trained to acquire proficiency in this inquiry policy. The core mechanism of Nous is a training framework grounded in the first principles of information theory. Within this framework, we define the information gain from dialogue as an intrinsic reward signal, which is fundamentally equivalent to the reduction of Shannon entropy over a structured task space. This reward design enables us to avoid reliance on costly human preference annotations or external reward models. To validate our framework, we develop an automated simulation pipeline to generate a large-scale, preference-based dataset for the challenging task of scientific diagram generation. Comprehensive experiments, including ablations, subjective and objective evaluations, and tests across user expertise levels, demonstrate the effectiveness of our proposed framework. Nous achieves leading efficiency and output quality, while remaining robust to varying user expertise. Moreover, its design is domain-agnostic, and we show evidence of generalization beyond diagram generation. Experimental results prove that our work offers a principled, scalable, and adaptive paradigm for resolving uncertainty about user intent in complex human-AI collaboration.

Open-source Large Language Models (LLMs) increasingly specialize by domain (e.g., math, code, general reasoning), motivating systems that leverage complementary strengths across models. Prior multi-LLM approaches either (i) route a query to one or a few experts and generate independently, (ii) aggregate outputs from each model via costly multi-turn exchanges, or (iii) fuse weights into a single model-typically requiring architectural homogeneity. We introduce Mixture of Thoughts (MoT), a simple method for latent-level collaboration among heterogeneous experts under a global routing scheme. For each query, a lightweight router selects top-K experts and designates a primary expert; uniformly placed interaction layers project hidden states into a shared latent space where the primary expert performs cross-attention over its active (selected) peers. Pre-trained experts remain frozen; only the router and the lightweight interaction layers are trained with a novel joint training objective that improves both the expert selection and inter-expert collaboration. Across five in-distribution (ID) and three out-of-distribution (OOD) benchmarks, MoT surpasses the current routing and aggregation-based state-of-the-art, Avengers, by +0.38% and +2.92%, respectively. Further, MoT significantly outperforms the best-performing single model. It achieves this with single-pass inference, runtime comparable to routing baselines, and none of the overheads of iterative aggregation. MoT offers a simple latent-space mechanism for combining heterogeneous LLMs, a practical step toward broader multi-LLM collaboration. Our code is publicly available at https://github.com/jacobfa/mot.

3D visual grounding (3DVG), which aims to correlate a natural language description with the target object within a 3D scene, is a significant yet challenging task. Despite recent advancements in this domain, existing approaches commonly encounter a shortage: a limited amount and diversity of text3D pairs available for training. Moreover, they fall short in effectively leveraging different contextual clues (e.g., rich spatial relations within the 3D visual space) for grounding. To address these limitations, we propose AugRefer, a novel approach for advancing 3D visual grounding. AugRefer introduces cross-modal augmentation designed to extensively generate diverse text-3D pairs by placing objects into 3D scenes and creating accurate and semantically rich descriptions using foundation models. Notably, the resulting pairs can be utilized by any existing 3DVG methods for enriching their training data. Additionally, AugRefer presents a language-spatial adaptive decoder that effectively adapts the potential referring objects based on the language description and various 3D spatial relations. Extensive experiments on three benchmark datasets clearly validate the effectiveness of AugRefer.

Affordance denotes the potential interactions inherent in objects. The perception of affordance can enable intelligent agents to navigate and interact with new environments efficiently. Weakly supervised affordance grounding teaches agents the concept of affordance without costly pixel-level annotations, but with exocentric images. Although recent advances in weakly supervised affordance grounding yielded promising results, there remain challenges including the requirement for paired exocentric and egocentric image dataset, and the complexity in grounding diverse affordances for a single object. To address them, we propose INTeraction Relationship-aware weakly supervised Affordance grounding (INTRA). Unlike prior arts, INTRA recasts this problem as representation learning to identify unique features of interactions through contrastive learning with exocentric images only, eliminating the need for paired datasets. Moreover, we leverage vision-language model embeddings for performing affordance grounding flexibly with any text, designing text-conditioned affordance map generation to reflect interaction relationship for contrastive learning and enhancing robustness with our text synonym augmentation. Our method outperformed prior arts on diverse datasets such as AGD20K, IIT-AFF, CAD and UMD. Additionally, experimental results demonstrate that our method has remarkable domain scalability for synthesized images / illustrations and is capable of performing affordance grounding for novel interactions and objects.

Visual grounding, which aims to ground a visual region via natural language, is a task that heavily relies on cross-modal alignment. Existing works utilized uni-modal pre-trained models to transfer visual/linguistic knowledge separately while ignoring the multimodal corresponding information. Motivated by recent advancements in contrastive language-image pre-training and low-rank adaptation (LoRA) methods, we aim to solve the grounding task based on multimodal pre-training. However, there exists significant task gaps between pre-training and grounding. Therefore, to address these gaps, we propose a concise and efficient hierarchical multimodal fine-grained modulation framework, namely HiVG. Specifically, HiVG consists of a multi-layer adaptive cross-modal bridge and a hierarchical multimodal low-rank adaptation (Hi LoRA) paradigm. The cross-modal bridge can address the inconsistency between visual features and those required for grounding, and establish a connection between multi-level visual and text features. Hi LoRA prevents the accumulation of perceptual errors by adapting the cross-modal features from shallow to deep layers in a hierarchical manner. Experimental results on five datasets demonstrate the effectiveness of our approach and showcase the significant grounding capabilities as well as promising energy efficiency advantages. The project page: https://github.com/linhuixiao/HiVG.

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

We approach autonomous drone-based reforestation with a collaborative multi-agent reinforcement learning (MARL) setup. Agents can communicate as part of a dynamically changing network. We explore collaboration and communication on the back of a high-impact problem. Forests are the main resource to control rising CO2 conditions. Unfortunately, the global forest volume is decreasing at an unprecedented rate. Many areas are too large and hard to traverse to plant new trees. To efficiently cover as much area as possible, here we propose a Graph Neural Network (GNN) based communication mechanism that enables collaboration. Agents can share location information on areas needing reforestation, which increases viewed area and planted tree count. We compare our proposed communication mechanism with a multi-agent baseline without the ability to communicate. Results show how communication enables collaboration and increases collective performance, planting precision and the risk-taking propensity of individual agents.

Large Language Models (LLMs) have demonstrated the ability to tackle increasingly complex tasks through advanced reasoning, long-form content generation, and tool use. Solving these tasks often involves long inference-time computations. In human problem solving, a common strategy to expedite work is collaboration: by dividing the problem into sub-tasks, exploring different strategies concurrently, etc. Recent research has shown that LLMs can also operate in parallel by implementing explicit cooperation frameworks, such as voting mechanisms or the explicit creation of independent sub-tasks that can be executed in parallel. However, each of these frameworks may not be suitable for all types of tasks, which can hinder their applicability. In this work, we propose a different design approach: we run LLM "workers" in parallel , allowing them to synchronize via a concurrently-updated attention cache and prompt these workers to decide how best to collaborate. Our approach allows the instances to come up with their own collaboration strategy for the problem at hand, all the while "seeing" each other's partial progress in the concurrent cache. We implement this approach via Hogwild! Inference: a parallel LLM inference engine where multiple instances of the same LLM run in parallel with the same attention cache, with "instant" access to each other's generated tokens. Hogwild! inference takes advantage of Rotary Position Embeddings (RoPE) to avoid recomputation while improving parallel hardware utilization. We find that modern reasoning-capable LLMs can perform inference with shared Key-Value cache out of the box, without additional fine-tuning.

Answer grounding is the task of locating relevant visual evidence for the Visual Question Answering task. While a wide variety of attention methods have been introduced for this task, they suffer from the following three problems: designs that do not allow the usage of pre-trained networks and do not benefit from large data pre-training, custom designs that are not based on well-grounded previous designs, therefore limiting the learning power of the network, or complicated designs that make it challenging to re-implement or improve them. In this paper, we propose a novel architectural block, which we term Sentence Attention Block, to solve these problems. The proposed block re-calibrates channel-wise image feature-maps by explicitly modeling inter-dependencies between the image feature-maps and sentence embedding. We visually demonstrate how this block filters out irrelevant feature-maps channels based on sentence embedding. We start our design with a well-known attention method, and by making minor modifications, we improve the results to achieve state-of-the-art accuracy. The flexibility of our method makes it easy to use different pre-trained backbone networks, and its simplicity makes it easy to understand and be re-implemented. We demonstrate the effectiveness of our method on the TextVQA-X, VQS, VQA-X, and VizWiz-VQA-Grounding datasets. We perform multiple ablation studies to show the effectiveness of our design choices.

Multi-agent systems (MAS) built on large language models (LLMs) offer a promising path toward solving complex, real-world tasks that single-agent systems often struggle to manage. While recent advancements in test-time scaling (TTS) have significantly improved single-agent performance on challenging reasoning tasks, how to effectively scale collaboration and reasoning in MAS remains an open question. In this work, we introduce an adaptive multi-agent framework designed to enhance collaborative reasoning through both model-level training and system-level coordination. We construct M500, a high-quality dataset containing 500 multi-agent collaborative reasoning traces, and fine-tune Qwen2.5-32B-Instruct on this dataset to produce M1-32B, a model optimized for multi-agent collaboration. To further enable adaptive reasoning, we propose a novel CEO agent that dynamically manages the discussion process, guiding agent collaboration and adjusting reasoning depth for more effective problem-solving. Evaluated in an open-source MAS across a range of tasks-including general understanding, mathematical reasoning, and coding-our system significantly outperforms strong baselines. For instance, M1-32B achieves 12% improvement on GPQA-Diamond, 41% on AIME2024, and 10% on MBPP-Sanitized, matching the performance of state-of-the-art models like DeepSeek-R1 on some tasks. These results highlight the importance of both learned collaboration and adaptive coordination in scaling multi-agent reasoning. Code is available at https://github.com/jincan333/MAS-TTS

Large shared displays, such as digital whiteboards, are useful for supporting co-located team collaborations by helping members perform cognitive tasks such as brainstorming, organizing ideas, and making comparisons. While recent advancement in Large Language Models (LLMs) has catalyzed AI support for these displays, most existing systems either only offer limited capabilities or diminish human control, neglecting the potential benefits of natural group dynamics. Our formative study identified cognitive challenges teams encounter, such as diverse ideation, knowledge sharing, mutual awareness, idea organization, and synchronization of live discussions with the external workspace. In response, we introduce LADICA, a large shared display interface that helps collaborative teams brainstorm, organize, and analyze ideas through multiple analytical lenses, while fostering mutual awareness of ideas and concepts. Furthermore, LADICA facilitates the real-time extraction of key information from verbal discussions and identifies relevant entities. A lab study confirmed LADICA's usability and usefulness.

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this issue, we propose a novel visual programming approach for zero-shot open-vocabulary 3DVG, leveraging the capabilities of large language models (LLMs). Our approach begins with a unique dialog-based method, engaging with LLMs to establish a foundational understanding of zero-shot 3DVG. Building on this, we design a visual program that consists of three types of modules, i.e., view-independent, view-dependent, and functional modules. These modules, specifically tailored for 3D scenarios, work collaboratively to perform complex reasoning and inference. Furthermore, we develop an innovative language-object correlation module to extend the scope of existing 3D object detectors into open-vocabulary scenarios. Extensive experiments demonstrate that our zero-shot approach can outperform some supervised baselines, marking a significant stride towards effective 3DVG.

Multi-agent systems represent a significant advancement in artificial intelligence, enabling complex problem-solving through coordinated specialized agents. However, these systems face fundamental challenges in context management, coordination efficiency, and scalable operation. This paper introduces a comprehensive framework for advancing multi-agent systems through Model Context Protocol (MCP), addressing these challenges through standardized context sharing and coordination mechanisms. We extend previous work on AI agent architectures by developing a unified theoretical foundation, advanced context management techniques, and scalable coordination patterns. Through detailed implementation case studies across enterprise knowledge management, collaborative research, and distributed problem-solving domains, we demonstrate significant performance improvements compared to traditional approaches. Our evaluation methodology provides a systematic assessment framework with benchmark tasks and datasets specifically designed for multi-agent systems. We identify current limitations, emerging research opportunities, and potential transformative applications across industries. This work contributes to the evolution of more capable, collaborative, and context-aware artificial intelligence systems that can effectively address complex real-world challenges.

Computer use agents automate digital tasks by directly interacting with graphical user interfaces (GUIs) on computers and mobile devices, offering significant potential to enhance human productivity by completing an open-ended space of user queries. However, current agents face significant challenges: imprecise grounding of GUI elements, difficulties with long-horizon task planning, and performance bottlenecks from relying on single generalist models for diverse cognitive tasks. To this end, we introduce Agent S2, a novel compositional framework that delegates cognitive responsibilities across various generalist and specialist models. We propose a novel Mixture-of-Grounding technique to achieve precise GUI localization and introduce Proactive Hierarchical Planning, dynamically refining action plans at multiple temporal scales in response to evolving observations. Evaluations demonstrate that Agent S2 establishes new state-of-the-art (SOTA) performance on three prominent computer use benchmarks. Specifically, Agent S2 achieves 18.9% and 32.7% relative improvements over leading baseline agents such as Claude Computer Use and UI-TARS on the OSWorld 15-step and 50-step evaluation. Moreover, Agent S2 generalizes effectively to other operating systems and applications, surpassing previous best methods by 52.8% on WindowsAgentArena and by 16.52% on AndroidWorld relatively. Code available at https://github.com/simular-ai/Agent-S.

Large Multimodal Models (LMMs) extend Large Language Models to the vision domain. Initial efforts towards LMMs used holistic images and text prompts to generate ungrounded textual responses. Very recently, region-level LMMs have been used to generate visually grounded responses. However, they are limited to only referring a single object category at a time, require users to specify the regions in inputs, or cannot offer dense pixel-wise object grounding. In this work, we present Grounding LMM (GLaMM), the first model that can generate natural language responses seamlessly intertwined with corresponding object segmentation masks. GLaMM not only grounds objects appearing in the conversations but is flexible enough to accept both textual and optional visual prompts (region of interest) as input. This empowers users to interact with the model at various levels of granularity, both in textual and visual domains. Due to the lack of standard benchmarks for the novel setting of generating visually grounded detailed conversations, we introduce a comprehensive evaluation protocol with our curated grounded conversations. Our proposed Grounded Conversation Generation (GCG) task requires densely grounded concepts in natural scenes at a large-scale. To this end, we propose a densely annotated Grounding-anything Dataset (GranD) using our proposed automated annotation pipeline that encompasses 7.5M unique concepts grounded in a total of 810M regions available with segmentation masks. Besides GCG, GLaMM also performs effectively on several downstream tasks e.g., referring expression segmentation, image and region-level captioning and vision-language conversations. Project Page: https://mbzuai-oryx.github.io/groundingLMM.

Large language models (LLMs) show their powerful automatic reasoning and planning capability with a wealth of semantic knowledge about the human world. However, the grounding problem still hinders the applications of LLMs in the real-world environment. Existing studies try to fine-tune the LLM or utilize pre-defined behavior APIs to bridge the LLMs and the environment, which not only costs huge human efforts to customize for every single task but also weakens the generality strengths of LLMs. To autonomously ground the LLM onto the environment, we proposed the Self-Driven Grounding (SDG) framework to automatically and progressively ground the LLM with self-driven skill learning. SDG first employs the LLM to propose the hypothesis of sub-goals to achieve tasks and then verify the feasibility of the hypothesis via interacting with the underlying environment. Once verified, SDG can then learn generalized skills with the guidance of these successfully grounded subgoals. These skills can be further utilized to accomplish more complex tasks which fail to pass the verification phase. Verified in the famous instruction following task set-BabyAI, SDG achieves comparable performance in the most challenging tasks compared with imitation learning methods that cost millions of demonstrations, proving the effectiveness of learned skills and showing the feasibility and efficiency of our framework.

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central challenge remains that often, it is difficult (perhaps even impossible) to capture the full complexity of the deployment environment, and therefore the desired tasks, at training time. Consequently, the representation, or abstraction, of the tasks the human hopes for the robot to perform in one environment may be misaligned with the representation of the tasks that the robot has learned in another. We postulate that because humans will be the ultimate evaluator of system success in the world, they are best suited to communicating the aspects of the tasks that matter to the robot. Our key insight is that effective learning from human input requires first explicitly learning good intermediate representations and then using those representations for solving downstream tasks. We highlight three areas where we can use this approach to build interactive systems and offer future directions of work to better create advanced collaborative robots.

Multi-agent collaboration enhances the perception capabilities of individual agents through information sharing. However, in real-world applications, differences in sensors and models across heterogeneous agents inevitably lead to domain gaps during collaboration. Existing approaches based on adaptation and reconstruction fail to support pragmatic heterogeneous collaboration due to two key limitations: (1) Intrusive retraining of the encoder or core modules disrupts the established semantic consistency among agents; and (2) accommodating new agents incurs high computational costs, limiting scalability. To address these challenges, we present a novel Generative Communication mechanism (GenComm) that facilitates seamless perception across heterogeneous multi-agent systems through feature generation, without altering the original network, and employs lightweight numerical alignment of spatial information to efficiently integrate new agents at minimal cost. Specifically, a tailored Deformable Message Extractor is designed to extract spatial message for each collaborator, which is then transmitted in place of intermediate features. The Spatial-Aware Feature Generator, utilizing a conditional diffusion model, generates features aligned with the ego agent's semantic space while preserving the spatial information of the collaborators. These generated features are further refined by a Channel Enhancer before fusion. Experiments conducted on the OPV2V-H, DAIR-V2X and V2X-Real datasets demonstrate that GenComm outperforms existing state-of-the-art methods, achieving an 81% reduction in both computational cost and parameter count when incorporating new agents. Our code is available at https://github.com/jeffreychou777/GenComm.

Grounding the common-sense reasoning of Large Language Models in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces, this work uses LLMs to guide the search of task structures and constraints implicit in multi-step demonstrations. Specifically, we borrow from manipulation planning literature the concept of mode families, which group robot configurations by specific motion constraints, to serve as an abstraction layer between the high-level language representations of an LLM and the low-level physical trajectories of a robot. By replaying a few human demonstrations with synthetic perturbations, we generate coverage over the demonstrations' state space with additional successful executions as well as counterfactuals that fail the task. Our explanation-based learning framework trains an end-to-end differentiable neural network to predict successful trajectories from failures and as a by-product learns classifiers that ground low-level states and images in mode families without dense labeling. The learned grounding classifiers can further be used to translate language plans into reactive policies in the physical domain in an interpretable manner. We show our approach improves the interpretability and reactivity of imitation learning through 2D navigation and simulated and real robot manipulation tasks. Website: https://sites.google.com/view/grounding-plans

While language model (LM)-powered chatbots and generative search engines excel at answering concrete queries, discovering information in the terrain of unknown unknowns remains challenging for users. To emulate the common educational scenario where children/students learn by listening to and participating in conversations of their parents/teachers, we create Collaborative STORM (Co-STORM). Unlike QA systems that require users to ask all the questions, Co-STORM lets users observe and occasionally steer the discourse among several LM agents. The agents ask questions on the user's behalf, allowing the user to discover unknown unknowns serendipitously. To facilitate user interaction, Co-STORM assists users in tracking the discourse by organizing the uncovered information into a dynamic mind map, ultimately generating a comprehensive report as takeaways. For automatic evaluation, we construct the WildSeek dataset by collecting real information-seeking records with user goals. Co-STORM outperforms baseline methods on both discourse trace and report quality. In a further human evaluation, 70% of participants prefer Co-STORM over a search engine, and 78% favor it over a RAG chatbot.

Recent work on dialogue-based collaborative plan acquisition (CPA) has suggested that Theory of Mind (ToM) modelling can improve missing knowledge prediction in settings with asymmetric skill-sets and knowledge. Although ToM was claimed to be important for effective collaboration, its real impact on this novel task remains under-explored. By representing plans as graphs and by exploiting task-specific constraints we show that, as performance on CPA nearly doubles when predicting one's own missing knowledge, the improvements due to ToM modelling diminish. This phenomenon persists even when evaluating existing baseline methods. To better understand the relevance of ToM for CPA, we report a principled performance comparison of models with and without ToM features. Results across different models and ablations consistently suggest that learned ToM features are indeed more likely to reflect latent patterns in the data with no perceivable link to ToM. This finding calls for a deeper understanding of the role of ToM in CPA and beyond, as well as new methods for modelling and evaluating mental states in computational collaborative agents.

We introduce CRAFT, a multi-agent benchmark for evaluating pragmatic communication in large language models under strict partial information. In this setting, multiple agents with complementary but incomplete views must coordinate through natural language to construct a shared 3D structure that no single agent can fully observe. We formalize this problem as a multi-sender pragmatic reasoning task and provide a diagnostic framework that decomposes failures into spatial grounding, belief modeling and pragmatic communication errors, including a taxonomy of behavioral failure profiles in both frontier and open-weight models. Across a diverse set of models, including 8 open-weight and 7 frontier including reasoning models, we find that stronger reasoning ability does not reliably translate to better coordination: smaller open-weight models often match or outperform frontier systems, and improved individual communication does not guarantee successful collaboration. These results suggest that multi-agent coordination remains a fundamentally unsolved challenge for current language models. Our code can be found at https://github.com/csu-signal/CRAFT

The rapid evolution of Retrieval-Augmented Generation (RAG) toward multimodal, high-stakes enterprise applications has outpaced the development of domain specific evaluation benchmarks. Existing datasets often rely on general-domain corpora or purely textual retrieval, failing to capture the complexity of specialized technical documents where information is inextricably multimodal and reasoning requires synthesizing disjoint evidence. We address this gap by introducing MiRAGE, a Multiagent framework for RAG systems Evaluation, that leverages a collaborative swarm of specialized agents to generate verified, domain-specific, multimodal, and multi-hop Question-Answer datasets. MiRAGE orchestrates a swarm of specialized agents: a recursive context optimization loop to aggregate scattered evidence, an adversarial verifier agent to guarantee factual grounding, and an agent to recognize the expert persona and the relevant domain to mimic expert cognitive workflows. Extensive empirical evaluation across four distinct domains (regulations, finance, quantitative biology, and journalism) demonstrates that MiRAGE generates datasets with significantly higher reasoning complexity (>2.3 average hops) and factual faithfulness. Our ablation studies point that MiRAGE can be powered by LLMs if textual descriptions of the images are available. Visual grounding still remains a frontier. By automating the creation of gold standard evaluation datasets that reflect the latent thematic structure of proprietary corpora, MiRAGE provides the necessary infrastructure to rigorously benchmark the next generation information retrieval systems.

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and collectively reason task strategies. They then generate sub-task plans and task space waypoint paths, which are used by a multi-arm motion planner to accelerate trajectory planning. We also provide feedback from the environment, such as collision checking, and prompt the LLM agents to improve their plan and waypoints in-context. For evaluation, we introduce RoCoBench, a 6-task benchmark covering a wide range of multi-robot collaboration scenarios, accompanied by a text-only dataset for agent representation and reasoning. We experimentally demonstrate the effectiveness of our approach -- it achieves high success rates across all tasks in RoCoBench and adapts to variations in task semantics. Our dialog setup offers high interpretability and flexibility -- in real world experiments, we show RoCo easily incorporates human-in-the-loop, where a user can communicate and collaborate with a robot agent to complete tasks together. See project website https://project-roco.github.io for videos and code.