Arcadia: Toward a Full-Lifecycle Framework for Embodied Lifelong Learning

• URL: http://arxiv.org/abs/2512.00076v1
• Date: Tue, 25 Nov 2025 07:26:00 GMT
• Title: Arcadia: Toward a Full-Lifecycle Framework for Embodied Lifelong Learning
• Abstract summary: We introduce Arcadia, a closed-loop framework that operationalizes embodied lifelong learning by tightly coupling four stages.<n> Arcadia delivers consistent gains on navigation and manipulation benchmarks and transfers robustly to physical robots.
• Score: 80.6669596031697
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We contend that embodied learning is fundamentally a lifecycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, learning, or deployment) rarely sustain improvement or generalize beyond narrow settings. We introduce Arcadia, a closed-loop framework that operationalizes embodied lifelong learning by tightly coupling four stages: (1) Self-evolving exploration and grounding for autonomous data acquisition in physical environments, (2) Generative scene reconstruction and augmentation for realistic and extensible scene creation, (3) a Shared embodied representation architecture that unifies navigation and manipulation within a single multimodal backbone, and (4) Sim-from-real evaluation and evolution that closes the feedback loop through simulation-based adaptation. This coupling is non-decomposable: removing any stage breaks the improvement loop and reverts to one-shot training. Arcadia delivers consistent gains on navigation and manipulation benchmarks and transfers robustly to physical robots, indicating that a tightly coupled lifecycle: continuous real-world data acquisition, generative simulation update, and shared-representation learning, supports lifelong improvement and end-to-end generalization. We release standardized interfaces enabling reproducible evaluation and cross-model comparison in reusable environments, positioning Arcadia as a scalable foundation for general-purpose embodied agents.

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