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arXiv · 2606.23565

HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory

Xiaolin Zhou·Liu Liu·Tingyang Xiao·Wei Feng·Fa Fu·Xinrui Meng·Xinjie Wang·Jialiang Han·Boyang Yu·Yun Du·Wei Sui·Zhizhong Su
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Abstract

LLM agents follow a practical execution loop in digital environments: they reason over structured states, invoke tools, inspect feedback, and revise actions. Extending this loop to physical robots is difficult because physical execution is continuous, embodiment-dependent, uncertain, and constrained by safety. Existing embodied-AI systems have advanced manipulation, spatial understanding, navigation, and humanoid control, but these capabilities often remain specialized modules or loosely coupled decision loops. In this work, we introduce HoloAgent-0, a unified embodied agent framework for real-world robot deployment. Embodied AgentOS converts language instructions into executable skill graphs, schedules robot resources, monitors execution, and triggers clarification or re-planning from runtime feedback. HoloAgent-0 organizes heterogeneous robot models and controllers through three coupled layers: Embodied AgentOS for closed-loop execution, 3D spatial memory for physical world grounding, and embodied skills for robot action. We deploy HoloAgent-0 on real hardware and evaluate its spatial memory, long-horizon navigation, and closed-loop execution across motion generation, object search, cross-robot coordination, and mobile manipulation.

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Xiaolin Zhou, Liu Liu, Tingyang Xiao, Wei Feng, Fa Fu, Xinrui Meng, Xinjie Wang, Jialiang Han, Boyang Yu, Yun Du, Wei Sui, Zhizhong Su. 2026-06-22. HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory. https://arxiv.org/abs/2606.23565

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