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arXiv · 2503.22122

REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation

Puzhen Yuan·Angyuan Ma·Yunchao Yao·Huaxiu Yao·Masayoshi Tomizuka·Mingyu Ding
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Abstract

Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly for long-horizon tasks that require a holistic understanding of the environment for task decomposition. Existing methods typically rely on prior environmental knowledge or carefully designed task-specific prompts, making them struggle with dynamic scene changes or unexpected task conditions, e.g., a robot attempting to put a carrot in the microwave but finds the door was closed. Such challenges underscore two critical issues: adaptability and efficiency. To address them, in this work, we propose an adaptive multi-agent planning framework, termed REMAC, that enables efficient, scene-agnostic multi-robot long-horizon task planning and execution through continuous reflection and self-evolution. REMAC incorporates two key modules: a self-reflection module performing pre-condition and post-condition checks in the loop to evaluate progress and refine plans, and a self-evolvement module dynamically adapting plans based on scene-specific reasoning. It offers several appealing benefits: 1) Robots can initially explore and reason about the environment without complex prompt design. 2) Robots can keep reflecting on potential planning errors and adapting the plan based on task-specific insights. 3) After iterations, a robot can call another one to coordinate tasks in parallel, maximizing the task execution efficiency. To validate REMAC's effectiveness, we build a multi-agent environment for long-horizon robot manipulation and navigation based on RoboCasa, featuring 4 task categories with 27 task styles and 50+ different objects. Based on it, we further benchmark state-of-the-art reasoning models, including DeepSeek-R1, o3-mini, QwQ, and Grok3, demonstrating REMAC's superiority by boosting average success rates by 40% and execution efficiency by 52.7% over the single robot baseline.

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Puzhen Yuan, Angyuan Ma, Yunchao Yao, Huaxiu Yao, Masayoshi Tomizuka, Mingyu Ding. 2026-08-10. REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation. https://arxiv.org/abs/2503.22122

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