EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

• URL: http://arxiv.org/abs/2608.29896v1
• Date: Sun, 30 Aug 2026 16:46:06 GMT
• Title: EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy
• Abstract summary: EMERGE-Policy coordinates both capability invocation and information exchange.<n>Main Agent retains task-level state within an active context window.<n>Role-specific Sub Agents process perception, execution monitoring, verification, and memory consolidation.
• Score: 48.898967774856466
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perceive, reason, predict, act, verify, and remember within a shared orchestration process. EMERGE-Policy turns this perspective into a graph-structured agentic framework that coordinates both capability invocation and information exchange. A Main Agent retains task-level state within an active context window, while role-specific Sub Agents process perception, execution monitoring, verification, and memory consolidation in isolated contexts and return structured, task-relevant evidence. Role-specific contexts control information load by exposing only decision-relevant evidence to the Main Agent, while the functional Skill interface composes heterogeneous backends as Operational, Imagination, and Evaluation Skills. Criterion-grounded verification, textual failure diagnosis, and Branch Stack recovery provide localized correction, with token-aware external memory preserving task-relevant state. Together, their closed-loop interaction realizes the system-level policy captured by the name EMERGE-Policy. Without additional fine-tuning, we achieved outstanding performance on several public benchmark that have had a wide-reaching impact, and conducted a series of real robot experiments. These system-level results suggest that through the division of different functional sub-tasks among multiple agents and their concurrent collaboration, as well as the technical paradigm where the model is regarded as a skill and called within the framework, EMERGE-Policy can extend the robust robot policies beyond isolated runs.

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