mlsanityData to 14 Oct 2026

RoboFactory: Exploring Embodied Agent Collaboration with Compositional Constraints

arXiv 2503.16408 ↗First posted 20 Mar 2025cs.RO cs.AI cs.CVcited by 31

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Designing effective embodied multi-agent systems is critical for solving complex real-world tasks across domains. Due to the complexity of multi-agent embodied systems, existing methods fail to automatically generate safe and efficient training data for such systems. To this end, we propose the concept of compositional constraints for embodied multi-agent systems, addressing the challenges arising from collaboration among embodied agents. We design various interfaces tailored to different types of constraints, enabling seamless interaction with the physical world. Leveraging compositional constraints and specifically designed interfaces, we develop an automated data collection framework for embodied multi-agent systems and introduce the first benchmark for embodied multi-agent manipulation, RoboFactory. Based on RoboFactory benchmark, we adapt and evaluate the method of imitation learning and analyzed its performance in different difficulty agent tasks. Furthermore, we explore the architectures and training strategies for multi-agent imitation learning, aiming to build safe and efficient embodied multi-agent systems.

Key facts. Cited by 31 papers in the map (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 2 of its 2 references that are in the map. First posted on arXiv 20 Mar 2025.

Builds on

2 of 2 references.

References · 2

  1. 2023GPT-4 Technical Reportcited by 18,396
  2. 2024RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)cited by 69

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 11; 2026: 20.

31 papers.

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  1. 2025RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Roboticscited by 127
  2. 2025TIGeR: Tool-Integrated Geometric Reasoning in Vision-Language Models for Roboticscited by 27
  3. 2025A Survey of Interactive Generative Videocited by 23
  4. 2026MultiWorld: Scalable Multi-Agent Multi-View Video World Modelscited by 23
  5. 2025VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learningcited by 18
  6. 2025RoboSafe: Safeguarding Embodied Agents via Executable Safety Logiccited by 14
  7. 2025HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoningcited by 13
  8. 2025CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusioncited by 8
  9. 2025Dissecting Embodied Abilities in Multimodal Language Models through Skill-level Evaluation and Diagnosiscited by 8
  10. 2026Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Applicationcited by 8
  11. 2025Towards Robust Evaluation of STEM Education: Leveraging MLLMs in Project-Based Learningcited by 7
  12. 2025LiveSearchBench: An Automatically Constructed Benchmark for Retrieval and Reasoning over Dynamic Knowledgecited by 3
19 more
  1. 2026MA-VLA: Multi-Arm Vision-Language-Action Model for Collaboration and Compositional Generalizationcited by 3
  2. 2025GauDP: Reinventing Multi-Agent Collaboration through Gaussian-Image Synergy in Diffusion Policiescited by 2
  3. 2026Advances and Innovations in the Multi-Agent Robotic System (MARS) Challengecited by 1
  4. 2026Ego to World: Collaborative Spatial Reasoning in Embodied Systems via Reinforcement Learningcited by 1
  5. 2026CoEnv: Driving Embodied Multi-Agent Collaboration via Compositional Environmentcited by 1
  6. 2026When Replanning Becomes the Bottleneck: Budgeted Replanning for Embodied Agentscited by 1
  7. 2026GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogscited by 1
  8. 2026Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulationcited by 0
  9. 2026ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulationcited by 0
  10. 2026GuardAD: Safeguarding Autonomous Driving MLLMs via Markovian Safety Logiccited by 0
  11. 2026Episodic Memory Temporal Consistency for Cooperative Multi-Agent Reinforcement Learningcited by 0
  12. 2026ChronoPhyBench: Do MLLMs Truly Understand the World or Merely Exploit Language Priors?cited by 0
  13. 2026OccAnyScene: Towards Unified Indoor-Outdoor 3D Occupancy Predictioncited by 0
  14. 2026LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulationcited by 0
  15. 2026RoboFind: Multi-Agent Personalized Object Search for People Who Are Blind or Have Low Visioncited by 0
  16. 2026CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policiescited by 0
  17. 2026CoHuB: A Simulation Benchmark for Multi-Humanoid Collaborationcited by 0
  18. 2026Cooperative Multi-Agent Vision-Language-Action Models via Reinforced Fine Tuningcited by 0
  19. 2026DuoMind: Enabling Distributed Multi-Robot Coordination with Semantic Communicationcited by 0

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  1. 2025Generative Multi-Agent Collaboration in Embodied AI: A Systematic Review
  2. 2025RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaboration
  3. 2026Embodied Skill Bench: Benchmarking How Well Agents with Embodied Skills Perform on Physical Tasks
  4. 2025Training Cross-Morphology Embodied AI Agents: From Practical Challenges to Theoretical Foundations
  5. 2026Data Pyramid for Embodied Manipulation: A Survey
  6. 2026MECoBench: A Systematic Study of Multimodal Agent Collaboration in Embodied Environments
  7. 2026When Multi-Robot Systems Meet Agentic AI:Towards Embodied Collective Intelligence
  8. 2024BBSEA: An Exploration of Brain-Body Synchronization for Embodied Agents