EvoFlock: evolved inverse design of multi-agent motion

Large language model (LLM)-based multi-agent systems have shown strong potential on complex tasks through agent specialization, tool use, and collaborative reasoning. However, most automated multi-agent system design methods still follow a one-shot paradigm: a workflow is optimized or selected before execution and then reused unchanged throughout the task. This static coordination strategy is ill-suited for long-horizon tasks whose subgoals, intermediate evidence, and information needs evolve over multiple execution stages. We propose EvoMAS, a framework for execution-time multi-agent workflow construction. EvoMAS formulates workflow construction as a meta-level sequential decision problem along a single task trajectory. At each stage, it constructs an explicit task state through a Planner-Evaluator-Updater pipeline and uses a learned Workflow Adapter to instantiate a stage-specific layered workflow from a fixed pool of candidate agents. The adapter is trained with policy gradients using sparse, verifiable terminal task success as the main supervision signal, while evaluator-based process reward is analyzed separately under very-hard sparse-reward settings. Experiments on GAIA, HLE, and DeepResearcher show that EvoMAS outperforms single-agent baselines and recent automated multi-agent workflow design methods. Our analyses further show that explicit task-state construction and learned workflow adaptation provide complementary benefits. Additional results indicate that process reward is most useful when terminal success is extremely sparse, and qualitative case studies illustrate that EvoMAS adapts agent coordination as the task state evolves.

Long-running coding agents such as autoresearch can persistently discover optimizations for open-ended problems. However, they tend to converge onto a single high-level approach, then proceed with low-level edits while missing other superior approaches to the problem. We hypothesize two harness-level design choices contribute to this behavior: accumulating context in a single long-running agent and only exposing a single program state to edit. We introduce SwarmResearch, an orchestrator-subagent harness in which a Shepherd Agent uses global context to steer a population of Search Agents, each operating with local context in their respective git branch. On open-ended optimization tasks, SwarmResearch discovers better or comparable solutions to state-of-the-art LLM-guided evolution and multi-agent techniques on 13/15 tasks, driven by higher-level exploration. Compared with fixed scaling of serial and parallel agents, SwarmResearch's orchestrator-guided scaling discovers better-performing solutions by adapting parallelism at different search depths.

Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors, relying solely on local alignment and attraction cues. By systematically tuning these two interaction gains, we map a phase diagram revealing sharp transitions between swarming and schooling, as well as a critical region where susceptibility, polarization fluctuations, and reorganization capacity peak. Outdoor experiments with a swarm of ten drones, combined with simulations using a calibrated flight-dynamics model, show that operating near this transition enhances responsiveness to external disturbances. When confronted with an intruder, the swarm performs rapid collective turns, transient expansions, and reliably recovers high alignment within seconds. These results demonstrate that minimal local-interaction rules are sufficient to generate multiple collective phases and that simple gain modulation offers an efficient mechanism to adjust stability, flexibility, and resilience in drone swarms.