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RoboFoundry：面向自学习具身智能体的“系统即策略”演化框架
AI 导读
RoboFoundry 提出“自演化系统即策略”的具身智能体框架，将执行轨迹转化为经验证的任务级系统更新，并沉淀为通用系统能力。在 EmbodiedBench 上，它把 GPT-5.5 提升 27.8%，并让 Qwen3.7-Plus 达到 70.3%、接近 GPT-5.5 的 72.7%。
正文
Authors:Jingsong Liang, Shuhao Liao, Shizhe Zhang, Diyuan Hou, Yuxin Cai, Xinjian Deng, Chengyang He, Wenhui Huang, Runjia Tan, Zhidong Wang, Lan Yu, Xuesong Tian, Guillaume Sartoretti, Jie Luo, Yao Mu, Wenjun Wu, Wanhua Li, Chen Lv
Abstract:A foundation model should not act in isolation as an embodied agent. Yet, existing methods often optimize individual components of the agent stack, such as memory, context, skills, or action interfaces, rather than treating the supporting system itself as a unified policy. Moreover, interaction alone does not yield self-improvement unless execution experience is converted into persistent, validated system changes. We therefore propose RoboFoundry, the first embodied agentic framework that formulates this process as Self-Evolving System-as-Policy. RoboFoundry diagnoses capability gaps in decision-making and memory management, converts execution traces into validated task-specific system updates, and promotes recurring improvements to the general system. Evolution operates over two complementary surfaces: a context system that manages active internal context and persistent file-system memory, and a hierarchical skill system that organizes atomic skills, reusable compositions, and failure-conditioned recovery. A shared semantic interface separates embodiment-invariant decisions from embodiment-specific execution, allowing evolved system capabilities to transfer across heterogeneous robots. On EmbodiedBench, RoboFoundry achieves state-of-the-art performance, notably improving GPT-5.5 by 27.8%. It also brings Qwen3.7-Plus to near parity with GPT-5.5 (70.3% vs. 72.7%), showing consistent gains from system-as-policy evolution across foundation models. For long-horizon memory, RoboFoundry outperforms all baselines on RoboMemArena by at least 39.0%, even against methods assisted by external foundation models. On LIBERO-PRO, it further outperforms Cap-Agent0 by 243.8%-679.7% across all perturbation types. In real-world deployments, RoboFoundry demonstrates zero-shot transfer and online evolution across robots and tasks, highlighting its potential for fully autonomous embodied agents.
| Comments: | Project page: this https URL |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2609.32862 [cs.RO] |
| (or arXiv:2609.32862v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2609.32862 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Jingsong Liang [view email]
[v1]
Sat, 26 Sep 2026 18:41:03 UTC (18,247 KB)
来源：HuggingFace Daily Papers（社区热门论文） · arxiv.org