StructuredCache: Hierarchical Cache-Coherent Execution for Embodied Multi-Agent Collaboration

Embodied multi-agent collaboration offers a promising approach to solving complex tasks in shared and dynamic environments by enabling multiple agents to coordinate their capabilities and actions. However, efficiently maintaining consistent task states remains challenging because independently acting agents continuously modify the shared environment, which can cause actions to be executed based on outdated task states. Modern CPUs face a related challenge when multiple cores access and update shared data, using caching for efficient data access and cache coherence mechanisms to maintain consistency across cores. Inspired by this, we propose StructuredCache, a cache-coherent execution framework for embodied multi-agent collaboration. StructuredCache converts agent-generated actions into structured instructions that specify operation semantics, state dependencies, and execution constraints. It organizes task states through a hierarchical cache and maintains state consistency through pre-execution state validation and post-execution outcome verification. Verified state updates are then committed, while outdated task states are invalidated to support subsequent execution. We evaluate StructuredCache on Minecraft-based crafting, cooking, and construction tasks across multiple large language models and collaboration scales. Experimental results show that StructuredCache consistently improves task success and reduces completion steps, demonstrating its effectiveness in enabling reliable and efficient embodied multi-agent collaboration.