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arXiv · 2604.07392

Event-Centric World Modeling with Memory-Augmented Retrieval for Embodied Decision-Making

Zhaowen Fan·Rongchao Zhang·Yunxiang Han
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Abstract

Autonomous agents operating in dynamic environments increasingly demand decision-making systems that are both efficient and interpretable. Hence we propose the Event-Retrieve-Action (ERA) framework, an alternative formulation for embodied decision-making that bridges the gap between black-box imitation and interpretable memory retrieval while enabling online refinement without retraining. The environment is represented as structured semantic events encoded into an interpretable latent representation, and decisions are generated by retrieving relevant prior experiences from a knowledge bank of event-action pairs. Final actions are produced through weighted aggregation of retrieved maneuvers, enabling transparent and physically consistent decision-making. Experiments in UAV navigation demonstrate real-time performance and adaptive behavior in dynamic environments as a representative embodied decision-making application scenario.

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Zhaowen Fan, Rongchao Zhang, Yunxiang Han. 2026-04-08. Event-Centric World Modeling with Memory-Augmented Retrieval for Embodied Decision-Making. https://arxiv.org/abs/2604.07392

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