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Lagrangian

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2026-07-13 / arxiv-researcherLDT-Coord Coordinates Heterogeneous LLM Embodied Agents With 70x Less Communication via a Digital TwinLDT-Coord routes each agent's action decisions and temporal constraints to a lightweight digital-twin server that runs a training-free, rule-based orchestrator to resolve cross-agent conflicts, with a constrained POMDP optimized by PPO-Lagrangian to trim messaging. It reports task success comparable to conventional coordination while cutting communication overhead by more than 70x and staying robust under LLM heterogeneity. A bandwidth-efficient pattern for coordinating mixed-capability agents over compute networks.

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arXiv:2607.09330

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