EmbodiedAgent: A Scalable Hierarchical Approach to Overcome Practical Challenge in Multi-Robot Control

This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction paradigm with a structured memory system to decompose tasks into executable robot skills while dynamically validating actions against environmental constraints. We present MultiPlan+, a dataset of more than 18,000 annotated planning instances spanning 100 scenarios, including a subset of impractical cases to mitigate hallucination. To evaluate performance, we propose the Robot Planning Assessment Schema (RPAS), combining automated metrics with LLM-aided expert grading. Experiments demonstrate EmbodiedAgent's superiority over state-of-the-art models, achieving 71.85% RPAS score. Real-world validation in an office service task highlights its ability to coordinate heterogeneous robots for long-horizon objectives.

@article{wan2025_2504.10030,
  title={ EmbodiedAgent: A Scalable Hierarchical Approach to Overcome Practical Challenge in Multi-Robot Control },
  author={ Hanwen Wan and Yifei Chen and Zeyu Wei and Dongrui Li and Zexin Lin and Donghao Wu and Jiu Cheng and Yuxiang Zhang and Xiaoqiang Ji },
  journal={arXiv preprint arXiv:2504.10030},
  year={ 2025 }
}