Towards CausalGPT: A Multi-Agent Approach for Faithful Knowledge Reasoning via Promoting Causal Consistency in LLMs

Despite advancements in LLMs, knowledge-based reasoning remains a longstanding issue due to the fragility of knowledge recall and inference. Existing methods primarily encourage LLMs to autonomously plan and solve problems or to extensively sample reasoning chains without addressing the conceptual and inferential fallacies. Attempting to alleviate inferential fallacies and drawing inspiration from multi-agent collaboration, we present a framework to increase faithfulness and causality for knowledge-based reasoning. Specifically, we propose to employ multiple intelligent agents (i.e., reasoners and an evaluator) to work collaboratively in a reasoning-and-consensus paradigm for elevated reasoning faithfulness. The reasoners focus on providing solutions with human-like causality to solve open-domain problems. On the other hand, the \textit{evaluator} agent scrutinizes if a solution is deducible from a non-causal perspective and if it still holds when challenged by a counterfactual candidate. According to the extensive and comprehensive evaluations on a variety of knowledge reasoning tasks (e.g., science question answering and commonsense reasoning), our framework outperforms all compared state-of-the-art approaches by large margins.

Formation Flight in Dense Environments

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we present a complete formation flight system that effectively integrates real-world constraints into aerial formation navigation. This paper proposes a differentiable graph-based metric to quantify the overall similarity error between formations. This metric is invariant to rotation, translation, and scaling, providing more freedom for formation coordination. We design a distributed trajectory optimization framework that considers formation similarity, obstacle avoidance, and dynamic feasibility. The optimization is decoupled to make large-scale formation flights computationally feasible. To improve the elasticity of formation navigation in highly constrained scenes, we present a swarm reorganization method which adaptively adjusts the formation parameters and task assignments by generating local navigation goals. A novel swarm agreement strategy called global-remap-local-replan and a formation-level path planner is proposed in this work to coordinate the swarm global planning and local trajectory optimizations efficiently. To validate the proposed method, we design comprehensive benchmarks and simulations with other cutting-edge works in terms of adaptability, predictability, elasticity, resilience, and efficiency. Finally, integrated with palm-sized swarm platforms with onboard computers and sensors, the proposed method demonstrates its efficiency and robustness by achieving the largest scale formation flight in dense outdoor environments.