Toward Universal Embodied Planning in Scalable Heterogeneous Field Robots Collaboration and Control. - Wan, Hanwen; Zhang, Yuhan; Wang, Junjie; Wu, Donghao; Li, Mengkang; Chen, Xilun; Deng, Yixuan; Huang, Yuxuan; Sun, Zhenglong; Zhang, Lin; Ji, Xiaoqiang (Journal of Field Robotics, 2025)