AeroWeaver：将空中技能编织进分布式自适应集群执行的具身智能体框架

Computer Science > Artificial Intelligence arXiv:2609.18520 (cs) [Submitted on 16 Sep 2026] Title:AeroWeaver: An Embodied-Agent Harness for Weaving Aerial Skills into Distributed, Adaptive Swarm Execution Authors:Jiabin Lou, Yirong Yang, Haopeng Wang, Xuxin Lv, Xinyu Liu, Diyuan Hou, Xuehong Liu, Rongye Shi, Wenjun Wu View a PDF of the paper titled AeroWeaver: An Embodied-Agent Harness for Weaving Aerial Skills into Distributed, Adaptive Swarm Execution, by Jiabin Lou and 8 other authors View PDF HTML (experimental) Abstract:Collective intelligence is a collaborative autonomy paradigm in which multiple agents pursue shared objectives through local perception, information exchange, and coordinated action. UAV swarms embody this paradigm by coordinating multiple vehicles in tasks such as search, inspection, and tracking. Recent advances in large language model (LLM) agents have strengthened natural-language task understanding and high-level planning, providing a flexible semantic interface between mission descriptions and collective behavior. While these advances expand semantic reasoning, applying LLM agents to UAV swarms raises challenges in grounding model decisions in executable capabilities, reconciling global task reasoning with distributed execution, and using mission-specific experience for continual adaptation. To address these challenges, we introduce AeroWeaver, an embodied-agent harness that weaves individual UAV skills into coordinated mission-level behavior. AeroWeaver connects semantic decisions to governed skills, organizes role-conditioned local agents for distributed coordination, and uses role-indexed state-action-reward experience to refine skill selection online. Experiments and runtime validation show that AeroWeaver maintains valid skill execution under tested conditions and supports body-local multi-UAV operation without a central agent generating joint actions from global context, while reward-guided online updates provide a training-free path for adaptive learning swarm agents from accumulated execution experience. Code: this https URL. Comments: Subjects: Artificial Intelligence (cs.AI) Cite as: arXiv:2609.18520 [cs.AI] (or arXiv:2609.18520v1 [cs.AI] for this version) https://doi.org/10.48550/arXiv.2609.18520 Focus to learn more arXiv-issued DOI via DataCite (pending registration) Submission history From: JiaBin Lou Dr. [view email] [v1] Wed, 16 Sep 2026 11:49:38 UTC (5,782 KB) Full-text links: Access Paper: View a PDF of the paper titled AeroWeaver: An Embodied-Agent Harness for Weaving Aerial Skills into Distributed, Adaptive Swarm Execution, by Jiabin Lou and 8 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.AI new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)