mlsanityData to 7 Oct 2026

Embodied LLM Agents Learn to Cooperate in Organized Teams

arXiv 2403.12482 ↗First posted 19 Mar 2024cs.AI cs.CL cs.CYcited by 81

On the map: LLM agents and tool use → General LLM agent frameworks and benchmarks

Abstract (arXiv)

Large Language Models (LLMs) have emerged as integral tools for reasoning, planning, and decision-making, drawing upon their extensive world knowledge and proficiency in language-related tasks. LLMs thus hold tremendous potential for natural language interaction within multi-agent systems to foster cooperation. However, LLM agents tend to over-report and comply with any instruction, which may result in information redundancy and confusion in multi-agent cooperation. Inspired by human organizations, this paper introduces a framework that imposes prompt-based organization structures on LLM agents to mitigate these problems. Through a series of experiments with embodied LLM agents and human-agent collaboration, our results highlight the impact of designated leadership on team efficiency, shedding light on the leadership qualities displayed by LLM agents and their spontaneous cooperative behaviors. Further, we harness the potential of LLMs to propose enhanced organizational prompts, via a Criticize-Reflect process, resulting in novel organization structures that reduce communication costs and enhance team efficiency.

Key facts. Cited by 81 papers in the map (data through 7 Oct 2026). Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use. Builds on 59 of its 89 references that are in the map. First posted on arXiv 19 Mar 2024.

Builds on

59 of 89 references.

Closest ancestors · 12

Same direction, newest first

  1. 2024S-Agents: Self-organizing Agents in Open-ended Environments7 Feb
  2. 2023Agents meet OKR: An Object and Key Results Driven Agent System with Hierarchical Self-Collaboration and Self-Evaluation28 Nov
  3. 2023Controlling Large Language Model-based Agents for Large-Scale Decision-Making: An Actor-Critic Approach23 Nov
  4. 2023Theory of Mind for Multi-Agent Collaboration via Large Language Models16 Oct
  5. 2023A Dynamic LLM-Powered Agent Network for Task-Oriented Agent Collaboration3 Oct
  6. 2023ProAgent: Building Proactive Cooperative Agents with Large Language Models22 Aug
  7. 2023AgentVerse: Facilitating Multi-Agent Collaboration and Exploring Emergent Behaviors21 Aug
  8. 2023MetaGPT: Meta Programming for A Multi-Agent Collaborative Framework1 Aug
  9. 2023Building Cooperative Embodied Agents Modularly with Large Language Models5 Jul
  10. 2023Multi-Agent Collaboration: Harnessing the Power of Intelligent LLM Agents5 Jun
  11. 2023AdaPlanner: Adaptive Planning from Feedback with Language Models26 May
  12. 2023CAMEL: Communicative Agents for "Mind" Exploration of Large Language Model Society31 Mar

Other references · 47

  1. 2022Training language models to follow instructions with human feedbackcited by 15,712
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  3. 2022Chain-of-Thought Prompting Elicits Reasoning in Large Language Modelscited by 12,302
  4. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,355
  5. 2023Reflexion: Language Agents with Verbal Reinforcement Learningcited by 4,064
  6. 2021Prefix-Tuning: Optimizing Continuous Prompts for Generationcited by 3,878
  7. 2021The Power of Scale for Parameter-Efficient Prompt Tuningcited by 3,769
  8. 2022Training a Helpful and Harmless Assistant with Reinforcement Learning from Human Feedbackcited by 3,634
  9. 2023Generative Agents: Interactive Simulacra of Human Behaviorcited by 3,500
  10. 2023Lost in the Middle: How Language Models Use Long Contextscited by 3,383
  11. 2023Universal and Transferable Adversarial Attacks on Aligned Language Modelscited by 2,914
  12. 2023Voyager: An Open-Ended Embodied Agent with Large Language Modelscited by 2,081
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  2. 2022Least-to-Most Prompting Enables Complex Reasoning in Large Language Modelscited by 1,397
  3. 2023Gorilla: Large Language Model Connected with Massive APIscited by 1,302
  4. 2020Making Pre-trained Language Models Better Few-shot Learnerscited by 1,255
  5. 2023HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Facecited by 1,173
  6. 2022Large Language Models Are Human-Level Prompt Engineerscited by 1,020
  7. 2023Reasoning with Language Model is Planning with World Modelcited by 846
  8. 2023Large Language Models as Optimizerscited by 830
  9. 2023Large Language Models Can Be Easily Distracted by Irrelevant Contextcited by 820
  10. 2023Automatic Prompt Optimization with "Gradient Descent" and Beam Searchcited by 628
  11. 2019The StarCraft Multi-Agent Challengecited by 589
  12. 2016Learning to Communicate with Deep Multi-Agent Reinforcement Learningcited by 561
  13. 2019Multi-Agent Reinforcement Learning: A Selective Overview of Theories and Algorithmscited by 555
  14. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  15. 2023Visual Adversarial Examples Jailbreak Aligned Large Language Modelscited by 307
  16. 2023Ghost in the Minecraft: Generally Capable Agents for Open-World Environments via Large Language Models with Text-based Knowledge and Memorycited by 288
  17. 2024Debating with More Persuasive LLMs Leads to More Truthful Answerscited by 255
  18. 2023ToolkenGPT: Augmenting Frozen Language Models with Massive Tools via Tool Embeddingscited by 238
  19. 2023Exploring Collaboration Mechanisms for LLM Agents: A Social Psychology Viewcited by 221
  20. 2018TarMAC: Targeted Multi-Agent Communicationcited by 201
  21. 2023RoCo: Dialectic Multi-Robot Collaboration with Large Language Modelscited by 171
  22. 2023Language Agents with Reinforcement Learning for Strategic Play in the Werewolf Gamecited by 148
  23. 2019A Review of Cooperative Multi-Agent Deep Reinforcement Learningcited by 147
  24. 2020Watch-And-Help: A Challenge for Social Perception and Human-AI Collaborationcited by 131
  25. 2019CityFlow: A Multi-Agent Reinforcement Learning Environment for Large Scale City Traffic Scenariocited by 114
  26. 2023Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?cited by 104
  27. 2023MetaAgents: Large Language Model Based Agents for Decision-Making on Teamingcited by 85
  28. 2024How Far Are We on the Decision-Making of LLMs? Evaluating LLMs' Gaming Ability in Multi-Agent Environmentscited by 66
  29. 2019Efficient Communication in Multi-Agent Reinforcement Learning via Variance Based Controlcited by 46
  30. 2021Learning to Ground Multi-Agent Communication with Autoencoderscited by 37
  31. 2018Pommerman: A Multi-Agent Playgroundcited by 30
  32. 2023RAH! RecSys-Assistant-Human: A Human-Centered Recommendation Framework with LLM Agentscited by 30
  33. 2024Hierarchical Auto-Organizing System for Open-Ended Multi-Agent Navigationcited by 24
  34. 2023Influence of External Information on Large Language Models Mirrors Social Cognitive Patternscited by 16
  35. 2023Scalable Communication for Multi-Agent Reinforcement Learning via Transformer-Based Email Mechanismcited by 6

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 21; 2025: 34; 2026: 26.

81 papers.

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By area:

  1. 2024Scaling Large Language Model-based Multi-Agent Collaborationcited by 235
  2. 2024The Landscape of Emerging AI Agent Architectures for Reasoning, Planning, and Tool Calling: A Surveycited by 164
  3. 2025Advances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systemscited by 125
  4. 2024FinCon: A Synthesized LLM Multi-Agent System with Conceptual Verbal Reinforcement for Enhanced Financial Decision Makingcited by 112
  5. 2024A Survey on Large Language Model-Based Game Agentscited by 106
  6. 2024SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agentscited by 102
  7. 2024LLM-based Multi-Agent Reinforcement Learning: Current and Future Directionscited by 67
  8. 2024Game-theoretic LLM: Agent Workflow for Negotiation Gamescited by 55
  9. 2025LLM-based Agents Suffer from Hallucinations: A Survey of Taxonomy, Methods, and Directionscited by 49
  10. 2024Optima: Optimizing Effectiveness and Efficiency for LLM-Based Multi-Agent Systemcited by 40
  11. 2025Rethinking Memory in LLM based Agents: Representations, Operations, and Emerging Topicscited by 36
  12. 2025Multi-agent Embodied AI: Advances and Future Directionscited by 36
38 more
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  3. 2025SpatialScore: Towards Comprehensive Evaluation for Spatial Intelligencecited by 19
  4. 2025Multi-Agent System for Comprehensive Soccer Understandingcited by 18
  5. 2025VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learningcited by 18
  6. 2024MorphAgent: Empowering Agents through Self-Evolving Profiles and Decentralized Collaborationcited by 15
  7. 2024Asynchronous Tool Usage for Real-Time Agentscited by 13
  8. 2024A Survey on Human-Centric LLMscited by 13
  9. 2025Generative Multi-Agent Collaboration in Embodied AI: A Systematic Reviewcited by 13
  10. 2025Self-Resource Allocation in Multi-Agent LLM Systemscited by 13
  11. 2024CaPo: Cooperative Plan Optimization for Efficient Embodied Multi-Agent Cooperationcited by 12
  12. 2025SafeSieve: From Heuristics to Experience in Progressive Pruning for LLM-based Multi-Agent Communicationcited by 12
  13. 2026Who&When Pro: Can LLMs Really Attribute Failures in AI Agents?cited by 11
  14. 2025Meta-Thinking in LLMs via Multi-Agent Reinforcement Learning: A Surveycited by 10
  15. 2026The Five Ws of Multi-Agent Communication: Who Talks to Whom, When, What, and Why -- A Survey from MARL to Emergent Language and LLMscited by 10
  16. 2024ShapefileGPT: A Multi-Agent Large Language Model Framework for Automated Shapefile Processingcited by 9
  17. 2025Benchmarking LLMs' Swarm intelligencecited by 8
  18. 2025Modeling Earth-Scale Human-Like Societies with One Billion Agentscited by 8
  19. 2026Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Applicationcited by 8
  20. 2024CAMON: Cooperative Agents for Multi-Object Navigation with LLM-based Conversationscited by 7
  21. 2025JoyAgent-JDGenie: Technical Report on the GAIAcited by 7
  22. 2025AgentDropout: Dynamic Agent Elimination for Token-Efficient and High-Performance LLM-Based Multi-Agent Collaborationcited by 6
  23. 2025Toward Scientific Reasoning in LLMs: Training from Expert Discussions via Reinforcement Learningcited by 6
  24. 2024SynthAI: A Multi Agent Generative AI Framework for Automated Modular HLS Design Generationcited by 5
  25. 2025Uncertainty in Action: Confidence Elicitation in Embodied Agentscited by 5
  26. 2025CREW-WILDFIRE: Benchmarking Agentic Multi-Agent Collaborations at Scalecited by 5
  27. 2025The Era of Agentic Organization: Learning to Organize with Language Modelscited by 5
  28. 2026Tacit Coordination of Large Language Modelscited by 5
  29. 2026MA-EgoQA: Question Answering over Egocentric Videos from Multiple Embodied Agentscited by 5
  30. 2026Tool Use Enables Undetectable Steganography in Multi-Agent LLM Systemscited by 5
  31. 2024Benchmarking Large Language Models for Image Classification of Marine Mammalscited by 4
  32. 2025UserCentrix: An Agentic Memory-augmented AI Framework for Smart Spacescited by 4
  33. 2025Collision- and Reachability-Aware Multi-Robot Control with Grounded LLM Plannerscited by 4
  34. 2025Cross-Task Experiential Learning on LLM-based Multi-Agent Collaborationcited by 4
  35. 2025The Decrypto Benchmark for Multi-Agent Reasoning and Theory of Mindcited by 4
  36. 2024BMW Agents -- A Framework For Task Automation Through Multi-Agent Collaborationcited by 3
  37. 2024Memory-Augmented Agent Training for Business Document Understandingcited by 3
  38. 2025Trace-of-Thought Prompting: Investigating Prompt-Based Knowledge Distillation Through Question Decompositioncited by 3

50 most cited of 81 All 81 (JSON)

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  7. 2024Shall We Team Up: Exploring Spontaneous Cooperation of Competing LLM Agents
  8. 2023LLM-Coordination: Evaluating and Analyzing Multi-agent Coordination Abilities in Large Language Models