{"id":"https://openalex.org/W7162436788","doi":"https://doi.org/10.48550/arxiv.2605.24598","title":"Hera: Learning Long-Horizon Coordination for Device-Cloud Collaborative LLM Agents","display_name":"Hera: Learning Long-Horizon Coordination for Device-Cloud Collaborative LLM Agents","publication_year":2026,"publication_date":"2026-05-23","ids":{"openalex":"https://openalex.org/W7162436788","doi":"https://doi.org/10.48550/arxiv.2605.24598"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.24598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.24598","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137079320","display_name":"Yuxin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104216613","display_name":"Mengxue Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Mengxue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137046830","display_name":"Zheng Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137069065","display_name":"Xiaoyi Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Xiaoyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137045085","display_name":"Fan Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137042121","display_name":"Zihan Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Zihan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136994269","display_name":"Jing Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137081988","display_name":"Wenjun Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Wenjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137075872","display_name":"Zhiwen Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhiwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137052136","display_name":"Chengfei Lv","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lv, Chengfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137016090","display_name":"Zhe Chen","orcid":"https://orcid.org/0000-0002-5874-7196"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.35409998893737793,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.35409998893737793,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14347","display_name":"Big Data and Digital Economy","score":0.14790000021457672,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.07530000060796738,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.8521000146865845},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7591000199317932},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6611999869346619},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5716999769210815},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4927000105381012},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4115000069141388},{"id":"https://openalex.org/keywords/hera","display_name":"HERA","score":0.3677999973297119}],"concepts":[{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.8521000146865845},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7591000199317932},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7505999803543091},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6611999869346619},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5716999769210815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.492900013923645},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4927000105381012},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C2779762263","wikidata":"https://www.wikidata.org/wiki/Q1054761","display_name":"HERA","level":3,"score":0.3677999973297119},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3452000021934509},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.334199994802475},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.30820000171661377},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.27790001034736633},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.27090001106262207},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.24598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.24598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large":[0],"language":[1],"model":[2],"(LLM)":[3],"agents":[4],"excel":[5],"at":[6],"solving":[7],"complex":[8],"long-horizon":[9,75],"tasks":[10,76],"through":[11],"autonomous":[12],"interaction":[13],"with":[14,128,158,190],"environments.":[15],"However,":[16],"their":[17],"real-world":[18],"deployment":[19],"faces":[20],"a":[21,68,78,85,116],"fundamental":[22],"device--cloud":[23,43,70],"dilemma:":[24],"on-device":[25],"models":[26,34],"are":[27,35],"efficient":[28],"but":[29,37],"often":[30],"brittle,":[31],"while":[32],"cloud":[33,106,126,138,167,191],"stronger":[36],"costly":[38],"in":[39,193],"computation.":[40],"State-of-the-art":[41],"LLM":[42,71],"routers":[44],"usually":[45],"make":[46],"coarse":[47],"task-level":[48],"decisions,":[49],"which":[50],"cannot":[51],"adapt":[52],"to":[53],"the":[54,120,133,141,186],"changing":[55],"difficulty":[56],"of":[57,185,196],"multi-step":[58],"agent":[59,72,122],"interactions.":[60],"To":[61],"address":[62],"this":[63],"issue,":[64],"we":[65,144],"present":[66],"Hera,":[67],"step-level":[69,113],"coordinator":[73],"for":[74,93],"achieving":[77,183],"strong":[79],"performance--cost":[80],"Pareto":[81],"frontier.":[82],"Hera":[83,157,171],"adopts":[84],"novel":[86],"two-stage":[87],"training":[88],"paradigm:":[89],"(1)":[90],"imitation":[91],"learning":[92,99,148],"cold-start,":[94],"followed":[95],"by":[96,132,149],"(2)":[97],"reinforcement":[98,147],"that":[100],"jointly":[101],"optimizes":[102],"task":[103],"success":[104,188],"and":[105,137,155,164,175],"usage":[107],"efficiency.":[108],"The":[109],"first":[110],"stage":[111],"casts":[112],"routing":[114],"as":[115],"supervised":[117],"classification":[118],"problem:":[119],"device":[121,136],"is":[123],"replayed":[124],"on":[125,172],"trajectories,":[127],"each":[129],"state":[130],"labeled":[131],"agreement":[134],"between":[135],"actions.":[139],"In":[140],"second":[142],"stage,":[143],"perform":[145],"cost-aware":[146],"grouping":[150],"identical":[151],"states":[152],"across":[153],"trajectories":[154],"updating":[156],"labels":[159],"favoring":[160],"higher":[161],"expected":[162],"return":[163],"fewer":[165],"future":[166],"calls.":[168],"We":[169],"evaluate":[170],"ALFWorld,":[173],"WebShop,":[174],"AppWorld,":[176],"where":[177],"it":[178],"consistently":[179],"outperforms":[180],"prior":[181],"methods,":[182],"92.5%":[184],"cloud-only":[187],"rate":[189],"use":[192],"only":[194],"46.3%":[195],"steps.":[197]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-27T00:00:00"}