useful high-level information.

2. Belief Module: Keeps track of the agent's understanding of the physical environment and other agents.

3. Communication Module: Decides what to communicate using the LLMs' dialogue generation and understanding capabilities.

4. Reasoning Module: Utilizes LLMs to synthesize all the information provided by other modules to decide high-level plans, including when to communicate.

5. Planning Module: Generates robust low-level controls according to the high-level plan generate