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Published at November 7

CaPo: Cooperative Plan Optimization for Efficient Embodied Multi-Agent Cooperation

cs.AI

cs.CV

cs.MA

Released Date: November 7, 2024

Authors: Jie Liu¹, Pan Zhou², Yingjun Du¹, Ah-Hwee Tan², Cees G. M. Snoek, Jan-Jakob Sonke³, Efstratios Gavves¹

Aff.: ¹University of Amsterdam; ²Singapore Management University; ³The Netherlands Cancer Institute

Arxiv: http://arxiv.org/abs/2411.04679v1

Refer to caption

	Classic Agents		GPT-3.5 Agents				LLAMA-2 Agents
	RHP^∗	RHP	CoELA	ProAgent	RoCo	CaPo ${}_{\text{(ours)}}$	CoELA	ProAgent	RoCo	CaPo ${}_{\text{(ours)}}$
w/o Oracle Perception
Food ( $\uparrow$ )	49	67	67	68 ${}_{\ +1.5\%}$	64 ${}_{\ -4.5\%}$	70 ${}_{\ +4.5\%}$	57	60 ${}_{\ +5.3\%}$	59 ${}_{\ +3.5\%}$	66 ${}_{\ +15.8\%}$
Stuff ( $\uparrow$ )	36	54	39	44_+12.8%	47_+20.1%	45_+15.4%	48	55 ${}_{\ +14.6\%}$	51 ${}_{\ +6.3\%}$	56 ${}_{\ +16.7\%}$
Avg. ( $\uparrow$ )	43	61	52	56 ${}_{\ +7.7\%}$	55 ${}_{\ +5.6\%}$	57 ${}_{\ +9.6\%}$	53	57 ${}_{\ +7.5\%}$	55 ${}_{\ +3.8\%}$	61 ${}_{\ +15.1\%}$
w/ Oracle Perception
Food ( $\uparrow$ )	52	76	72	80 ${}_{\ +11.1\%}$	74 ${}_{\ +2.8\%}$	85 ${}_{\ +18.1\%}$	60	64 ${}_{\ +6.7\%}$	62 ${}_{\ +3.3\%}$	66 ${}_{\ +10.0\%}$
Stuff ( $\uparrow$ )	49	74	73	76 ${}_{\ +4.1\%}$	80 ${}_{\ +9.6\%}$	84 ${}_{\ +15.1\%}$	63	62 ${}_{\ -1.6\%}$	69 ${}_{\ +9.5\%}$	76 ${}_{\ +20.6\%}$
Avg. ( $\uparrow$ )	50	75	72	78 ${}_{\ +8.3\%}$	77 ${}_{\ +6.9\%}$	84 ${}_{\ +16.7\%}$	62	63 ${}_{\ +1.6\%}$	65 ${}_{\ +4.8\%}$	71 ${}_{\ +14.5\%}$