mlsanityData to 7 Oct 2026

Can a Robot Walk the Robotic Dog: Triple-Zero Collaborative Navigation for Heterogeneous Multi-Agent Systems

arXiv 2603.21723 ↗First posted 23 Mar 2026cs.RO cs.MAcited by 3

On the map: LLM agents and tool use → Multimodal and embodied agents

Abstract (arXiv)

We present Triple Zero Path Planning (TZPP), a collaborative framework for heterogeneous multi-robot systems that requires zero training, zero prior knowledge, and zero simulation. TZPP employs a coordinator--explorer architecture: a humanoid robot handles task coordination, while a quadruped robot explores and identifies feasible paths using guidance from a multimodal large language model. We implement TZPP on Unitree G1 and Go2 robots and evaluate it across diverse indoor and outdoor environments, including obstacle-rich and landmark-sparse settings. Experiments show that TZPP achieves robust, human-comparable efficiency and strong adaptability to unseen scenarios. By eliminating reliance on training and simulation, TZPP offers a practical path toward real-world deployment of heterogeneous robot cooperation. Our code and video are provided at: https://github.com/triple-zeropp/Triple-zero-robot-agent

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use. Builds on 18 of its 29 references that are in the map. First posted on arXiv 23 Mar 2026.

Builds on

18 of 29 references.

References · 18

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  2. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 733
  3. 2023SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planningcited by 289
  4. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Explorationcited by 234
  5. 2024Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigationcited by 195
  6. 2023RoCo: Dialectic Multi-Robot Collaboration with Large Language Modelscited by 171
  7. 2023Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?cited by 104
  8. 2023SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environmentscited by 53
  9. 2024Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulationcited by 38
  10. 2024Model-Based Diffusion for Trajectory Optimizationcited by 30
  11. 2024EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for Efficient and Scalable Robot Task Planningcited by 23
  12. 2024Deep Reinforcement Learning-based Large-scale Robot Explorationcited by 12
6 more
  1. 2024ZeroCAP: Zero-Shot Multi-Robot Context Aware Pattern Formation via Large Language Modelscited by 8
  2. 2023Target Search and Navigation in Heterogeneous Robot Systems with Deep Reinforcement Learningcited by 6
  3. 2023Graph-based Decentralized Task Allocation for Multi-Robot Target Localizationcited by 6
  4. 2025MAGNNET: Multi-Agent Graph Neural Network-based Efficient Task Allocation for Autonomous Vehicles with Deep Reinforcement Learningcited by 4
  5. 2025SIGMA: Sheaf-Informed Geometric Multi-Agent Pathfindingcited by 4
  6. 2024Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Controlcited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 3.

3 papers.

  1. 2026From Question Answering to Task Completion: A Survey on Agent System and Harness Designcited by 9
  2. 2026Seeing Together: Multi-Robot Cooperative Egocentric Spatial Reasoning with Multimodal Large Language Modelscited by 3
  3. 2026CoRef-GS: Cooperative Referring Gaussian Splatting for Multi-Agent Scene Understandingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Systematic Multi-Agent Vision-and-Language Navigation: Formulation, Benchmark, and Method
  2. 2026D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments
  3. 2018PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning
  4. 2026Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments ↗
  5. 2024QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds
  6. 2025Where Paths Collide: A Comprehensive Survey of Classic and Learning-Based Multi-Agent Pathfinding
  7. 2024EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agents
  8. 2025COMRES-VLM: Coordinated Multi-Robot Exploration and Search using Vision Language Models