# Improving Cooperation in Collaborative Embodied AI

arXiv: https://arxiv.org/abs/2510.03153 · HTML: https://mlsanity.com/paper/2510.03153/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 12 references that are in the map.
- First posted on arXiv 3 Oct 2025.

## Builds on (most cited first, 8 of 8)

- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [Building Cooperative Embodied Agents Modularly with Large Language Models](https://mlsanity.com/paper/2307.02485/) (2023)
- [Agent S: An Open Agentic Framework that Uses Computers Like a Human](https://mlsanity.com/paper/2410.08164/) (2024)
- [Retrospectives on the Embodied AI Workshop](https://mlsanity.com/paper/2210.06849/) (2022)
- [Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent](https://mlsanity.com/paper/2410.06472/) (2024)

## Abstract (arXiv)

The integration of Large Language Models (LLMs) into multiagent systems has opened new possibilities for collaborative reasoning and cooperation with AI agents. This paper explores different prompting methods and evaluates their effectiveness in enhancing agent collaborative behaviour and decision-making. We enhance CoELA, a framework designed for building Collaborative Embodied Agents that leverage LLMs for multi-agent communication, reasoning, and task coordination in shared virtual spaces. Through systematic experimentation, we examine different LLMs and prompt engineering strategies to identify optimised combinations that maximise collaboration performance. Furthermore, we extend our research by integrating speech capabilities, enabling seamless collaborative voice-based interactions. Our findings highlight the effectiveness of prompt optimisation in enhancing collaborative agent performance; for example, our best combination improved the efficiency of the system running with Gemma3 by 22% compared to the original CoELA system. In addition, the speech integration provides a more engaging user interface for iterative system development and demonstrations.