TeamBench: Evaluating Agent Coordination under Enforced Role Separation

Computer Science > Artificial Intelligence [Submitted on 8 May 2026] TeamBench: Evaluating Agent Coordination under Enforced Role Separation Yubin Kim, Chanwoo Park, Taehan Kim, Eugene Park, Samuel Schmidgall, Salman Rahman, Chunjong Park, Cynthia Breazeal, Xin Liu, Hamid Palangi, Hae Won Park, Daniel McDuff Agent systems often decompose a task across multiple roles, but these roles are typically specified by prompts rather than enforced by access controls. Without enforcement, a team pass rate can mask whether agents actually coordinated or whether one role effectively did another role's work. We present TeamBench, a benchmark with 851 task templates and 931 seeded instances for evaluating agent coordination under operating system-enforced role separation. TeamBench separates specification access, workspace editing, and final certification across Planner, Executor, and Verifier roles, so that no role can read the full requirements, modify the workspace, and certify the final answer. Prompt-only and sandbox-enforced teams reach statistically indistinguishable pass rates, but prompt-only runs produce 3.6 times more cases where the verifier attempts to edit the executor's code. Verifiers approve 49% of submissions that fail the deterministic grader, and removing the verifier improves mean partial score in the ablation. Team value is also conditional. Teams benefit when single agents struggle, but hurt when single agents already perform well. A 40-session human study under the same role separation shows that our benchmark exposes interaction patterns that pass rate misses. Solo participants work through the task directly, human participants paired with agents often collapse into quick approval, and human teams spend more effort coordinating missing information across roles. Subjects: Artificial Intelligence (cs.AI) Cite as: arXiv:2605.07073 [cs.AI]   (or arXiv:2605.07073v1 [cs.AI] for this version)   https://doi.org/10.48550/arXiv.2605.07073 Focus to learn more Submission history From: Yubin Kim [view email] [v1] Fri, 8 May 2026 00:48:45 UTC (1,630 KB) Access Paper: HTML (experimental) view license Current browse context: cs.AI < prev   |   next > new | recent | 2026-05 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Export BibTeX Citation Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Demos Related Papers About arXivLabs Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)