{"id":"https://openalex.org/W7152622818","doi":"https://doi.org/10.48550/arxiv.2604.07039","title":"AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules","display_name":"AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules","publication_year":2026,"publication_date":"2026-04-08","ids":{"openalex":"https://openalex.org/W7152622818","doi":"https://doi.org/10.48550/arxiv.2604.07039"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.07039","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07039","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.07039","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133282620","display_name":"Xue Qin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qin, Xue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133242687","display_name":"Simin Luan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luan, Simin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"See, John","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"See, John","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yang, Cong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Cong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Li, Zhijun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhijun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.27709999680519104,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.27709999680519104,"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.09309999644756317,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.08569999784231186,"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/executable","display_name":"Executable","score":0.7103000283241272},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6043000221252441},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5723000168800354},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5558000206947327},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5235000252723694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49399998784065247},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.41510000824928284},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.39010000228881836}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7281000018119812},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.7103000283241272},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6043000221252441},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5723000168800354},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5558000206947327},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5235000252723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49399998784065247},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4399999976158142},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4101000130176544},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.2987000048160553},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28130000829696655},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2768000066280365},{"id":"https://openalex.org/C2778355321","wikidata":"https://www.wikidata.org/wiki/Q17079427","display_name":"Identity (music)","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C147358964","wikidata":"https://www.wikidata.org/wiki/Q1200992","display_name":"Abstraction layer","level":3,"score":0.27459999918937683},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2676999866962433},{"id":"https://openalex.org/C96147967","wikidata":"https://www.wikidata.org/wiki/Q190686","display_name":"Subroutine","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.07039","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07039","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.07039","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07039","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.475536584854126,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"lack":[2],"a":[3,13,36,47,53,111,128,135],"principled":[4],"abstraction":[5],"for":[6],"organizing":[7],"intelligence,":[8],"capabilities,":[9],"and":[10,41,85,100,105,122,156,177,204],"execution":[11,103],"in":[12,76,131],"unified":[14],"manner.":[15],"Existing":[16],"approaches":[17],"either":[18],"couple":[19],"skills":[20],"within":[21],"monolithic":[22],"architectures":[23],"or":[24,31],"decompose":[25],"functionality":[26],"into":[27],"loosely":[28],"coordinated":[29],"modules":[30],"multiple":[32],"agents,":[33],"often":[34],"without":[35,201],"coherent":[37],"model":[38],"of":[39],"identity":[40],"control":[42],"authority.":[43],"We":[44,65,126],"argue":[45],"that":[46],"robot":[48,79],"should":[49],"be":[50],"modeled":[51],"as":[52,69],"single":[54],"persistent":[55,83],"intelligent":[56],"subject":[57],"whose":[58],"capabilities":[59,86],"are":[60,87,108],"extended":[61],"through":[62,89],"installable":[63],"packages.":[64],"formalize":[66],"this":[67],"view":[68],"AEROS":[70,166],"(Agent":[71],"Execution":[72],"Runtime":[73],"Operating":[74],"System),":[75],"which":[77],"each":[78],"corresponds":[80],"to":[81],"one":[82],"agent":[84],"provided":[88],"Embodied":[90],"Capability":[91],"Modules":[92],"(ECMs).":[93],"Each":[94],"ECM":[95,153],"encapsulates":[96],"executable":[97],"skills,":[98],"models,":[99],"tools,":[101],"while":[102],"constraints":[104],"safety":[106],"guarantees":[107],"enforced":[109],"by":[110],"policy-separated":[112],"runtime.":[113],"This":[114],"separation":[115],"enables":[116],"modular":[117],"extensibility,":[118],"composable":[119],"capability":[120],"execution,":[121],"consistent":[123],"system-level":[124],"safety.":[125],"evaluate":[127],"reference":[129],"implementation":[130],"PyBullet":[132],"simulation":[133],"with":[134,192,209],"Franka":[136],"Panda":[137],"7-DOF":[138],"manipulator":[139],"across":[140,171,199],"eight":[141],"experiments":[142],"covering":[143],"re-planning,":[144],"failure":[145,157],"recovery,":[146],"policy":[147,186],"enforcement,":[148],"baseline":[149],"comparison,":[150],"cross-task":[151],"generality,":[152],"hot-swapping,":[154],"ablation,":[155],"boundary":[158],"analysis.":[159],"Over":[160],"100":[161],"randomized":[162],"trials":[163],"per":[164],"condition,":[165],"achieves":[167],"100%":[168,210],"task":[169],"success":[170],"three":[172],"tasks":[173,200],"versus":[174],"baselines":[175],"(BehaviorTree.CPP-style":[176],"ProgPrompt-style":[178],"at":[179,183,207],"92--93%,":[180],"flat":[181],"pipeline":[182],"67--73%),":[184],"the":[185],"layer":[187],"blocks":[188],"all":[189],"invalid":[190],"actions":[191],"zero":[193],"false":[194],"acceptances,":[195],"runtime":[196,208],"benefits":[197],"generalize":[198],"task-specific":[202],"tuning,":[203],"ECMs":[205],"load":[206],"post-swap":[211],"success.":[212]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-10T00:00:00"}
