MANIPULATION
推进全能具身智能体：从孤立技能到日常物理自主
Junhao Shi, Zezheng Huai, Siyin Wang, Jia Chen, Yubang Wang, Zhaoye Fei, Hechang Chen, Jingjing Gong, Xipeng Qiu, Yu-Gang Jiang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出OmniAct框架，通过分层异步架构统一规划、记忆和验证，实现机器人在非结构化环境中的持久自主。该框架在40项真实世界长时任务中取得显著成效，解决了现有系统在动作空间统一、上下文管理和故障恢复方面的局限。
关键词
embodied agentscyber-physicalhierarchical architecturememory compressionfailure recovery
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