{"id":"https://openalex.org/W7162504498","doi":"https://doi.org/10.48550/arxiv.2605.26239","title":"Sentinel: Embodied Cooperative Spatial Reasoning and Planning","display_name":"Sentinel: Embodied Cooperative Spatial Reasoning and Planning","publication_year":2026,"publication_date":"2026-05-25","ids":{"openalex":"https://openalex.org/W7162504498","doi":"https://doi.org/10.48550/arxiv.2605.26239"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.26239","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26239","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.26239","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108335357","display_name":"Xiangye Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Xiangye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137130154","display_name":"Hongxin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hongxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013643601","display_name":"Ruxi Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Ruxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016046839","display_name":"Qinhong Zhou","orcid":"https://orcid.org/0009-0003-8461-7621"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Qinhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137173866","display_name":"Chuang Gan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gan, Chuang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3133000135421753,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3133000135421753,"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"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.1290999948978424,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.12610000371932983,"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/embodied-cognition","display_name":"Embodied cognition","score":0.7062000036239624},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.6610999703407288},{"id":"https://openalex.org/keywords/patrolling","display_name":"Patrolling","score":0.6599000096321106},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4408000111579895},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42410001158714294},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.38839998841285706},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.3797999918460846},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.37059998512268066},{"id":"https://openalex.org/keywords/spatial-planning","display_name":"Spatial planning","score":0.36250001192092896}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7062000036239624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6956999897956848},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.6610999703407288},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.6599000096321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5067999958992004},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4819999933242798},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4408000111579895},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42410001158714294},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3797999918460846},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.37059998512268066},{"id":"https://openalex.org/C2776873942","wikidata":"https://www.wikidata.org/wiki/Q149013","display_name":"Spatial planning","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.3587000072002411},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.3495999872684479},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.34369999170303345},{"id":"https://openalex.org/C9114305","wikidata":"https://www.wikidata.org/wiki/Q1428317","display_name":"Situational ethics","level":2,"score":0.3402999937534332},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.29840001463890076},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C157170001","wikidata":"https://www.wikidata.org/wiki/Q4781507","display_name":"Applications of artificial intelligence","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C2777371692","wikidata":"https://www.wikidata.org/wiki/Q2178611","display_name":"Spatial cognition","level":3,"score":0.28690001368522644},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C83725634","wikidata":"https://www.wikidata.org/wiki/Q7268699","display_name":"Qualitative reasoning","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.25589999556541443},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.26239","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26239","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.26239","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26239","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.6128883957862854,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,163],"work,":[2],"we":[3,80,171],"study":[4],"Cooperative":[5],"Spatial":[6,84],"Intelligence,":[7],"the":[8,67,92,102],"ability":[9],"of":[10,98,104],"decentralized":[11,33],"embodied":[12,34,183],"agents":[13,35,111],"to":[14,41,112,136,173],"coordinate":[15],"effectively":[16],"under":[17],"dynamic":[18,64,150],"environmental":[19],"constraints":[20],"across":[21,126],"city-scale":[22,53],"outdoor":[23,54],"domains.":[24],"We":[25],"introduce":[26],"Sentinel":[27],"Challenge,":[28],"a":[29,44,70,88,168,175],"benchmark":[30],"where":[31],"multiple":[32],"must":[36,58],"communicate":[37],"in":[38,182],"natural":[39],"language":[40],"agree":[42],"on":[43],"mutually":[45],"safe":[46],"and":[47,86,95,121,142,166,187],"convenient":[48],"meeting":[49],"point":[50],"within":[51],"large,":[52],"environments.":[55],"Each":[56],"agent":[57],"then":[59],"navigate":[60],"safely":[61],"while":[62],"avoiding":[63],"sentinels":[65],"patrolling":[66],"area,":[68],"using":[69],"tool":[71],"that":[72,90,148],"provides":[73],"coarse":[74],"spatial":[75,106,119,153,180],"information.":[76],"To":[77],"address":[78],"this,":[79],"propose":[81],"CoSaR":[82,109,133],"(Cooperative":[83],"Reasoning":[85],"Planning),":[87],"framework":[89],"bridges":[91],"high-level":[93],"communication":[94,151],"planning":[96],"abilities":[97],"foundation":[99,176],"models":[100],"with":[101,130,152],"precision":[103],"classical":[105],"navigation":[107],"algorithms.":[108],"enables":[110],"exchange":[113],"situational":[114],"updates,":[115],"reason":[116],"over":[117],"evolving":[118],"constraints,":[120],"collaboratively":[122],"replan":[123],"trajectories.":[124],"Evaluated":[125],"14":[127],"city-level":[128],"scenes":[129],"3-5":[131],"agents,":[132],"consistently":[134],"leads":[135],"faster":[137],"gathering,":[138],"shorter":[139],"path":[140],"lengths,":[141],"improved":[143],"safety.":[144],"Our":[145],"results":[146],"demonstrate":[147],"integrating":[149],"reasoning":[154],"is":[155],"essential":[156],"for":[157,177],"robust":[158],"multi-agent":[159,184],"cooperation.":[160],"By":[161],"formalizing":[162],"new":[164],"setting":[165],"providing":[167],"scalable":[169],"benchmark,":[170],"aim":[172],"build":[174],"advancing":[178],"cooperative":[179],"intelligence":[181],"systems.":[185],"Code":[186],"challenge":[188],"are":[189],"available":[190],"at":[191],"https://github.com/UMass-Embodied-AGI/Sentinel.":[192]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-28T00:00:00"}