{"id":"https://openalex.org/W7165676679","doi":"https://doi.org/10.48550/arxiv.2606.23565","title":"HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory","display_name":"HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory","publication_year":2026,"publication_date":"2026-06-22","ids":{"openalex":"https://openalex.org/W7165676679","doi":"https://doi.org/10.48550/arxiv.2606.23565"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.23565","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23565","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.2606.23565","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113903386","display_name":"X J Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Xiaolin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139197780","display_name":"Liu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Liu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634959","display_name":"Tingyang Xiao","orcid":"https://orcid.org/0009-0004-5937-0759"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Tingyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139158532","display_name":"Wei Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018541733","display_name":"Fa Fu","orcid":"https://orcid.org/0000-0002-4811-7692"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Fa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046623268","display_name":"Xinrui Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meng, Xinrui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139156718","display_name":"Xinjie Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xinjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139172517","display_name":"Jialiang Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Jialiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139205405","display_name":"Boyang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Boyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139179209","display_name":"Yun Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Yun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139169925","display_name":"Wei Sui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sui, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139164610","display_name":"Zhizhong Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Zhizhong","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/T10709","display_name":"Social Robot Interaction and HRI","score":0.275299996137619,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.275299996137619,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.11389999836683273,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.10930000245571136,"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/embodied-cognition","display_name":"Embodied cognition","score":0.8317000269889832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6815000176429749},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.6686000227928162},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5285999774932861},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.49570000171661377},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.4855000078678131},{"id":"https://openalex.org/keywords/embodied-agent","display_name":"Embodied agent","score":0.438400000333786}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8317000269889832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451000213623047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6815000176429749},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.6686000227928162},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5831000208854675},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5285999774932861},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.49570000171661377},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.4855000078678131},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.438400000333786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43380001187324524},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4163999855518341},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.40799999237060547},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36079999804496765},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.33469998836517334},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.2621999979019165}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.23565","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23565","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.2606.23565","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23565","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":[{"score":0.5696131587028503,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"LLM":[0],"agents":[1],"follow":[2],"a":[3,71],"practical":[4],"execution":[5,32,146],"loop":[6,24],"in":[7],"digital":[8],"environments:":[9],"they":[10],"reason":[11],"over":[12],"structured":[13],"states,":[14],"invoke":[15],"tools,":[16],"inspect":[17],"feedback,":[18],"and":[19,37,50,94,107,125,137,144,154],"revise":[20],"actions.":[21],"Extending":[22],"this":[23,66],"to":[25],"physical":[26,31,122],"robots":[27],"is":[28,33],"difficult":[29],"because":[30],"continuous,":[34],"embodiment-dependent,":[35],"uncertain,":[36],"constrained":[38],"by":[39],"safety.":[40],"Existing":[41],"embodied-AI":[42],"systems":[43],"have":[44],"advanced":[45],"manipulation,":[46],"spatial":[47,119,140],"understanding,":[48],"navigation,":[49,143],"humanoid":[51],"control,":[52],"but":[53],"these":[54],"capabilities":[55],"often":[56],"remain":[57],"specialized":[58],"modules":[59],"or":[60,97],"loosely":[61],"coupled":[62,111],"decision":[63],"loops.":[64],"In":[65],"work,":[67],"we":[68],"introduce":[69],"HoloAgent-0,":[70],"unified":[72],"embodied":[73,126],"agent":[74],"framework":[75],"for":[76,115,121,128],"real-world":[77],"robot":[78,90,105,129],"deployment.":[79],"Embodied":[80,113],"AgentOS":[81,114],"converts":[82],"language":[83],"instructions":[84],"into":[85],"executable":[86],"skill":[87],"graphs,":[88],"schedules":[89],"resources,":[91],"monitors":[92],"execution,":[93,117],"triggers":[95],"clarification":[96],"re-planning":[98],"from":[99],"runtime":[100],"feedback.":[101],"HoloAgent-0":[102,133],"organizes":[103],"heterogeneous":[104],"models":[106],"controllers":[108],"through":[109],"three":[110],"layers:":[112],"closed-loop":[116,145],"3D":[118],"memory":[120],"world":[123],"grounding,":[124],"skills":[127],"action.":[130],"We":[131],"deploy":[132],"on":[134],"real":[135],"hardware":[136],"evaluate":[138],"its":[139],"memory,":[141],"long-horizon":[142],"across":[147],"motion":[148],"generation,":[149],"object":[150],"search,":[151],"cross-robot":[152],"coordination,":[153],"mobile":[155],"manipulation.":[156]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-24T00:00:00"}
