Yueqi Zhu, Yan Pan, Chufan Rui, Jiasheng Luo, Bo Zhou
In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on probabilistic navigation systems for robots usually perform offline accuracy evaluations using limited datasets and assume that the results can be applied to unknown real-world environments. As a result, current autonomous mobile robots often lack protection levels for online safety assessment. To fill this gap, we propose a safety-critical LiDAR-inertial odometry (LIO) that provides deterministic protection levels based on a novel on-manifold set-membership filter. By adopting the unknown but bounded assumption, we derive a neat closed-form relationship between point cloud noise and the uncertainty of the estimation from the iterative closest point algorithm. Using this relationship, we design an on-manifold ellipsoidal set-membership filter (OM-ESMF) and implement it within the LIO system. Leveraging the properties of the set-membership filter, our system offers the feasible sets of the estimated locations as the deterministic protection levels, serving as safety references for the robots' downstream autonomous operations. The experimental results show that our system can provide effective deterministic online safety references for diverse robots in various environments.
Yuzhe Zhang Beijing University of Technology, Feiran Liu College of Computer Science, Yi Shan Beijing University of Technology, Xinyi Huang, Xin Yang Kuaishou- 快手科技 and Zhejiang University, Yueqi Zhu, Xuxin Cheng, Cao Liu 等 11 位作者
Large language models are increasingly deployed in multi-agent systems to overcome context limitations by distributing information across agents. However, whether LLM-based agents can reliably coordinate when each observes only a fragment of the global problem remains unclear. Existing benchmarks often prescribe agent roles or interaction patterns, conflating coordination ability with role-based priors. We introduce SILO-BENCH, a role-free benchmark for evaluating free-form collaboration under information silos. The benchmark comprises 30 algorithmic tasks with exact ground-truth answers, organized into 3 complexity levels based on optimal communication complexity: aggregation, mesh, and global shuffle. To systematically probe coordination capabilities, we instantiate 54 configurations by varying 3 communication protocols, 6 agent scales and 3 frontier LLMs, conducting 1,620 experiments. We evaluate agent behavior along three dimensions: Success Rate, Token Consumption, and Communication Density. Our experiments reveal a fundamental Communication-Reasoning Gap: agents communicate actively, yet fail to translate interaction into effective distributed computation. Performance collapses as complexity increases, with Level-III tasks achieving zero success beyond 50 agents. These findings demonstrate that current LLMs cannot escape information silos through coordination alone. SILO-BENCH provides a foundation for tracking progress toward genuinely collaborative multi-agent systems. The code is available at https://github.com/jwyjohn/acl26-silo-bench.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表