HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory
- Published
- Source
- arXiv
- Paper number
- 469
- Field
- Robotics
- arXiv ID
- 2606.23565
Key points
- A three-layer structure: Embodied AgentOS for planning, scheduling, and monitoring; a memory layer with a 3D semantic map; and a skill layer for navigation, manipulation, and motion.
- A ROS2-based command and state interface supports heterogeneous skill composition and real-time failure recovery.
- It integrates HoloNavi for navigation, HoloBrain for VLA-based manipulation, and HoloMotion for whole-body motion.
- Its 3D scene-graph-based spatial memory provides long-horizon task context through a room-object hierarchy.
- It demonstrates object search, multi-robot collaboration, and closed-loop mobile manipulation on real robot hardware.
Paper links
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