{"id":"https://openalex.org/W7161743503","doi":"https://doi.org/10.48550/arxiv.2605.18729","title":"Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction","display_name":"Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161743503","doi":"https://doi.org/10.48550/arxiv.2605.18729"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.18729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18729","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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.18729","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047180180","display_name":"Nga Teng Chan","orcid":"https://orcid.org/0009-0002-3092-6974"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chan, Nga Teng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136471953","display_name":"Yi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136222205","display_name":"Yechi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yechi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136269019","display_name":"Renwen Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Renwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062508341","display_name":"Fanhu Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Fanhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057983414","display_name":"Zeyuan Ding","orcid":"https://orcid.org/0000-0002-4969-6200"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Zeyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136477732","display_name":"Xiancong Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Xiancong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136471510","display_name":"Zhang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136456028","display_name":"Qifeng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Qifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136500300","display_name":"Jian Liu","orcid":"https://orcid.org/0009-0009-6652-7044"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136492242","display_name":"Yong Dai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Yong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136498965","display_name":"Xiaozhu Ju","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ju, Xiaozhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":12,"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":0.4438000023365021,"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":0.4438000023365021,"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":0.15139999985694885,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.0649000033736229,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6843000054359436},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.6074000000953674},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5792999863624573},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5367000102996826},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.48669999837875366},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.4733000099658966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4569000005722046},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.4433000087738037},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4302999973297119}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7181000113487244},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6843000054359436},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.6074000000953674},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5792999863624573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5465999841690063},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5407999753952026},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5367000102996826},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.4733000099658966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4569000005722046},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.4433000087738037},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4302999973297119},{"id":"https://openalex.org/C161407221","wikidata":"https://www.wikidata.org/wiki/Q4382939","display_name":"Cognitive model","level":3,"score":0.38359999656677246},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.3571999967098236},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.35350000858306885},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31859999895095825},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.3160000145435333},{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.30309998989105225},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3003000020980835},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.2809999883174896},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2632000148296356},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.18729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18729","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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.18729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18729","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":"article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.46233224868774414}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,107],"ability":[1],"to":[2,11,23,33,49,80,192,202,208],"navigate":[3],"and":[4,54,67,127,140,160,172,185,200],"interact":[5],"with":[6,188],"complex":[7],"environments":[8,19],"is":[9,87],"central":[10],"real-world":[12,212],"embodied":[13],"agents,":[14],"yet":[15],"navigation":[16,52],"in":[17,181,221],"unseen":[18,209],"remains":[20],"challenging":[21],"due":[22],"\"experiential":[24],"amnesia,\"":[25],"where":[26,153],"existing":[27],"trajectory-driven":[28],"or":[29],"reactive":[30],"policies":[31],"fail":[32],"synthesize":[34],"generalizable":[35],"strategies":[36,57],"from":[37,77],"past":[38,135],"interactions.":[39],"We":[40],"propose":[41],"Robo-Cortex,":[42],"a":[43,59,75,99,111,117,128,149,154,161],"self-evolving":[44],"framework":[45],"that":[46,94,133,175],"enables":[47,74],"robots":[48],"autonomously":[50],"induce":[51],"heuristics":[53],"refine":[55],"cognitive":[56],"through":[58],"continuous":[60],"reflection-adaptation":[61],"loop.":[62],"By":[63],"abstracting":[64],"success":[65,184],"patterns":[66],"failure":[68],"pitfalls":[69],"into":[70,98,137],"natural-language":[71],"heuristics,":[72],"Robo-Cortex":[73,176,220],"transition":[76],"passive":[78],"execution":[79],"active":[81],"strategy":[82],"evolution.":[83],"Our":[84],"core":[85],"innovation":[86],"an":[88],"Autonomous":[89],"Knowledge":[90],"Induction":[91],"(AKI)":[92],"mechanism":[93],"distills":[95],"multimodal":[96,150],"trajectories":[97,136],"structured":[100],"Navigation":[101],"Heuristic":[102],"Library":[103],"for":[104,122],"knowledge":[105],"generalization.":[106],"architecture":[108],"further":[109,215],"incorporates":[110],"Dual-Grain":[112],"Cognitive":[113],"Memory":[114,120,131],"system,":[115],"comprising":[116],"Short-term":[118],"Reflective":[119],"(SRM)":[121],"real-time":[123],"local":[124],"progress":[125],"analysis,":[126],"Long-term":[129],"Principle":[130],"(LPM)":[132],"abstracts":[134],"reusable":[138],"guiding":[139],"cautionary":[141],"principles.":[142],"To":[143],"ensure":[144],"robust":[145],"decision-making,":[146],"we":[147],"introduce":[148],"Imagine-then-Verify":[151],"loop,":[152],"world":[155],"model":[156],"simulates":[157],"potential":[158],"outcomes":[159],"VLM-based":[162],"evaluator":[163],"validates":[164],"action":[165],"plans.":[166],"Extensive":[167],"evaluations":[168],"on":[169],"IGNav,":[170],"AR,":[171],"AEQA":[173],"show":[174],"consistently":[177],"outperforms":[178],"strong":[179],"baselines":[180],"both":[182],"task":[183],"exploration":[186],"efficiency,":[187],"gains":[189],"of":[190,219],"up":[191,201],"+4.16%":[193],"SPL":[194,204],"over":[195],"the":[196,217],"strongest":[197],"prior":[198],"method":[199],"+15.30%":[203],"under":[205],"heuristic":[206],"transfer":[207],"environments.":[210],"Preliminary":[211],"robotic":[213],"experiments":[214],"support":[216],"effectiveness":[218],"physical":[222],"settings.":[223]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-20T00:00:00"}