{"id":"https://openalex.org/W7155095613","doi":"https://doi.org/10.48550/arxiv.2604.16331","title":"BrainMem: Brain-Inspired Evolving Memory for Embodied Agent Task Planning","display_name":"BrainMem: Brain-Inspired Evolving Memory for Embodied Agent Task Planning","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7155095613","doi":"https://doi.org/10.48550/arxiv.2604.16331"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.16331","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16331","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2604.16331","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134127934","display_name":"Xiaoyu Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Xiaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134210619","display_name":"Lianyu Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Lianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134199985","display_name":"Wenbing Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Wenbing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134172551","display_name":"Zixuan Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Zixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134156858","display_name":"Zeqin Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liao, Zeqin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134173530","display_name":"Zhizhen Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Zhizhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134197918","display_name":"Yang Liu","orcid":"https://orcid.org/0009-0007-3811-6163"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yang","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.20679999887943268,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.20679999887943268,"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":0.11159999668598175,"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":0.08799999952316284,"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":0.8048999905586243},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7290999889373779},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5845999717712402},{"id":"https://openalex.org/keywords/embodied-agent","display_name":"Embodied agent","score":0.43619999289512634},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4262000024318695},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4050999879837036},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.3801000118255615},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.37929999828338623}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8048999905586243},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7290999889373779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7092999815940857},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5845999717712402},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5403000116348267},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.43619999289512634},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4237000048160553},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4050999879837036},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.38089999556541443},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3801000118255615},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.37929999828338623},{"id":"https://openalex.org/C103613024","wikidata":"https://www.wikidata.org/wiki/Q230924","display_name":"Stateless protocol","level":3,"score":0.36399999260902405},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.3181999921798706},{"id":"https://openalex.org/C100660578","wikidata":"https://www.wikidata.org/wiki/Q18733","display_name":"Recall","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.2630999982357025},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.16331","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16331","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2604.16331","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16331","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Embodied":[0],"task":[1,140],"planning":[2],"requires":[3],"agents":[4,63],"to":[5,89],"execute":[6],"long-horizon,":[7],"goal-directed":[8],"actions":[9],"in":[10],"complex":[11,158],"3D":[12],"environments,":[13],"where":[14],"success":[15,141],"depends":[16],"on":[17,119,125,154],"both":[18],"immediate":[19],"perception":[20],"and":[21,33,39,43,67,83,93,115,133,146,156,168],"accumulated":[22],"experience":[23,98],"across":[24,143],"tasks.":[25,159],"However,":[26],"most":[27],"existing":[28],"LLM-based":[29],"planners":[30,88],"are":[31],"stateless":[32],"reactive,":[34],"operating":[35],"without":[36,99],"persistent":[37],"memory":[38,58,69,164],"therefore":[40],"repeating":[41],"errors":[42],"struggling":[44],"with":[45,64,111,149],"spatial":[46],"or":[47,103],"temporal":[48],"dependencies.":[49],"We":[50],"propose":[51],"BrainMem(Brain-Inspired":[52],"Evolving":[53],"Memory),":[54],"a":[55,166],"training-free":[56],"hierarchical":[57],"system":[59],"that":[60,136],"equips":[61],"embodied":[62,173],"working,":[65],"episodic,":[66],"semantic":[68],"inspired":[70],"by":[71],"human":[72],"cognition.":[73],"BrainMem":[74,137],"continuously":[75],"transforms":[76],"interaction":[77],"histories":[78],"into":[79],"structured":[80],"knowledge":[81],"graphs":[82],"distilled":[84],"symbolic":[85],"guidelines,":[86],"enabling":[87],"retrieve,":[90],"reason":[91],"over,":[92],"adapt":[94],"behaviors":[95],"from":[96],"past":[97],"any":[100],"model":[101],"fine-tuning":[102],"additional":[104],"training.":[105],"This":[106],"plug-and-play":[107],"design":[108],"integrates":[109],"seamlessly":[110],"arbitrary":[112],"multi-modal":[113],"LLMs":[114],"greatly":[116],"reduces":[117],"reliance":[118],"task-specific":[120],"prompt":[121],"engineering.":[122],"Extensive":[123],"experiments":[124],"four":[126],"representative":[127],"benchmarks,":[128],"including":[129],"EB-ALFRED,":[130],"EB-Navigation,":[131],"EB-Manipulation,":[132],"EB-Habitat,":[134],"demonstrate":[135],"significantly":[138],"enhances":[139],"rates":[142],"diverse":[144],"models":[145],"difficulty":[147],"subsets,":[148],"the":[150],"largest":[151],"gains":[152],"observed":[153],"long-horizon":[155],"spatially":[157],"These":[160],"results":[161],"highlight":[162],"evolving":[163],"as":[165],"promising":[167],"scalable":[169],"mechanism":[170],"for":[171],"generalizable":[172],"intelligence.":[174]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-22T00:00:00"}
