{"id":"https://openalex.org/W4413945133","doi":"https://doi.org/10.1109/icra55743.2025.11128047","title":"KARMA: Augmenting Embodied AI Agents with Long-and-Short Term Memory Systems","display_name":"KARMA: Augmenting Embodied AI Agents with Long-and-Short Term Memory Systems","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945133","doi":"https://doi.org/10.1109/icra55743.2025.11128047"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100398258","display_name":"Zixuan Wang","orcid":"https://orcid.org/0000-0003-2922-799X"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Science (CASIA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Science (CASIA)","institution_ids":["https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031645307","display_name":"Bo Yu","orcid":"https://orcid.org/0000-0001-9121-1281"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Bo Yu","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society","institution_ids":["https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101374283","display_name":"Junzhe Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhe Zhao","raw_affiliation_strings":["Alibaba Group,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Group,Hangzhou,China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105142301","display_name":"W. Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhao Sun","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sai Hou","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sai Hou","raw_affiliation_strings":["Beijing Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115594681","display_name":"Shuai Liang","orcid":"https://orcid.org/0000-0001-8216-7362"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Liang","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082604341","display_name":"Xing Hu","orcid":"https://orcid.org/0000-0003-1930-0372"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Hu","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016864694","display_name":"Yinhe Han","orcid":"https://orcid.org/0000-0003-0904-6681"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinhe Han","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012891934","display_name":"Yiming Gan","orcid":"https://orcid.org/0000-0002-2033-5057"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Gan","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences (ICT, CAS)","institution_ids":["https://openalex.org/I4210090176"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.6906999945640564,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.6906999945640564,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6714000105857849,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.6054999828338623,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.7905982136726379},{"id":"https://openalex.org/keywords/karma","display_name":"Karma","score":0.7756463289260864},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.731404185295105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6226587295532227},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.38649362325668335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32397300004959106},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1726107895374298},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.13003253936767578}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7905982136726379},{"id":"https://openalex.org/C547328371","wikidata":"https://www.wikidata.org/wiki/Q132196","display_name":"Karma","level":3,"score":0.7756463289260864},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.731404185295105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6226587295532227},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.38649362325668335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32397300004959106},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1726107895374298},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.13003253936767578},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C75699723","wikidata":"https://www.wikidata.org/wiki/Q748","display_name":"Buddhism","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4444615682","display_name":null,"funder_award_id":"62025404","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4573673286","display_name":null,"funder_award_id":"Z241100004224015","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"},{"id":"https://openalex.org/G7356250002","display_name":null,"funder_award_id":"2024YFB4505800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2778355023","https://openalex.org/W2964277307","https://openalex.org/W2990129662","https://openalex.org/W3034758614","https://openalex.org/W3176182290","https://openalex.org/W4226236972","https://openalex.org/W4382366145","https://openalex.org/W4383097607","https://openalex.org/W4385430679","https://openalex.org/W4385567216","https://openalex.org/W4385572383","https://openalex.org/W4387835442","https://openalex.org/W4388720459","https://openalex.org/W4388744821","https://openalex.org/W4389519488","https://openalex.org/W4389523655","https://openalex.org/W4390873374","https://openalex.org/W4390874575","https://openalex.org/W4393147158","https://openalex.org/W4394828156","https://openalex.org/W4396758674","https://openalex.org/W4401042703","https://openalex.org/W4402354083","https://openalex.org/W4402670540","https://openalex.org/W4402671013","https://openalex.org/W4402684050","https://openalex.org/W4404134046","https://openalex.org/W4405787555","https://openalex.org/W4411630047"],"related_works":["https://openalex.org/W3182538575","https://openalex.org/W2033609647","https://openalex.org/W4387478628","https://openalex.org/W2753017648","https://openalex.org/W2513760693","https://openalex.org/W2062819913","https://openalex.org/W2149544884","https://openalex.org/W2133485962","https://openalex.org/W4246694033","https://openalex.org/W4211188312"],"abstract_inverted_index":{"Embodied":[0],"AI":[1,138],"agents":[2,51,90,131,211],"responsible":[3],"for":[4,47,110,187],"executing":[5],"interconnected,":[6],"long-sequence":[7],"household":[8,224],"tasks":[9,225],"often":[10],"face":[11],"difficulties":[12],"with":[13,62,133],"in-context":[14],"memory,":[15,61,134],"leading":[16],"to":[17,91,128,212],"inefficiencies":[18],"and":[19,38,59,84,101,112,148,156,164,174,215],"errors":[20],"in":[21,49,81,153],"task":[22,104,166],"execution.":[23],"To":[24],"address":[25],"this":[26,200],"issue,":[27],"we":[28,180],"introduce":[29],"KARMA,":[30],"an":[31],"innovative":[32],"memory":[33,40,64,77,107,114,202],"system":[34],"that":[35,182],"integrates":[36],"longterm":[37],"short-term":[39,60,76],"modules,":[41],"enhancing":[42],"large":[43],"language":[44],"models":[45],"(LLMs)":[46],"planning":[48],"embodied":[50,130,137,210],"through":[52],"memory-augmented":[53,136],"prompting.":[54],"Karma":[55],"distinguishes":[56],"between":[57],"long-term":[58,63],"capturing":[65],"comprehensive":[66],"3D":[67],"scene":[68,95],"graphs":[69],"as":[70,195],"representations":[71],"of":[72,103,119,209,222],"the":[73,99,117,160,207,220],"environment,":[74],"while":[75,122],"dynamically":[78],"records":[79],"changes":[80],"objects'":[82],"positions":[83],"states.":[85],"This":[86],"dualmemory":[87],"structure":[88],"allows":[89,186],"retrieve":[92],"relevant":[93],"past":[94],"experiences,":[96],"thereby":[97],"improving":[98],"accuracy":[100],"efficiency":[102,168],"planning.":[105],"Short-term":[106],"employs":[108],"strategies":[109],"effective":[111],"adaptive":[113],"replacement,":[115],"ensuring":[116],"retention":[118],"critical":[120],"information":[121],"discarding":[123],"less":[124],"pertinent":[125],"data.":[126],"Compared":[127],"state-of-the-art":[129],"enhanced":[132],"our":[135],"agent":[139],"improves":[140],"success":[141],"rates":[142],"by":[143,169],"<tex":[144,149,170,175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[145,150,171,176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$1.3":[146],"\\times$</tex>":[147,152,173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$2.3":[151],"Composite":[154],"Tasks":[155,158],"Complex":[157],"within":[159],"AI2-THOR":[161],"simulator,":[162],"respectively,":[163],"enhances":[165,206],"execution":[167,221],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$3.4":[172],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$62.7":[177],"\\times$</tex>.":[178],"Furthermore,":[179],"demonstrate":[181],"KARMA's":[183],"plug-and-play":[184,201],"capability":[185],"seamless":[188],"deployment":[189],"on":[190],"real-world":[191],"robotic":[192],"systems,":[193],"such":[194],"mobile":[196],"manipulation":[197],"platforms.":[198],"Through":[199],"system,":[203],"KARMA":[204],"significantly":[205],"ability":[208],"generate":[213],"coherent":[214],"contextually":[216],"appropriate":[217],"plans,":[218],"making":[219],"complex":[223],"more":[226],"efficient.":[227],"Our":[228],"code":[229],"is":[230],"available":[231],"at":[232],"https://github.com/WZX0Swarm0Robotics/KARMA/tree/master.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}