Memory-Augmented Agents

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Overview

Memory-augmented agents study how AI systems can retain and use information beyond the current prompt or observation, helping them handle long tasks, partial observability, and changing user or world states. Approaches range from episodic, semantic, and procedural stores—often organized as graphs, event records, or compressed visual and action histories—to learned policies that decide what to write, retrieve, update, or forget. Work spans embodied control and navigation, GUI and web use, dialogue, coding, and research, with evaluations including RoboMemArena, RoboMME, GOAT-Bench, LongMemEval, and software-engineering benchmarks. A central tension is that more memory can improve transfer and continuity but also introduce stale or misleading evidence, interference, cost, privacy leaks, and persistent attacks, making selective retrieval and longitudinal safety evaluation important open problems.

Latest papers

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349 papers64 papers in the last four weeks, up 60% on the four weeks before. 0.4% of all new papers.

Apr 3, 2026

Scaling Multi-agent Systems: A Smart Middleware for Improving Agent Interactions

As Large Language Model (LLM) based Multi-Agent Systems (MAS) evolve from experimental pilots to complex, persistent ecosystems, the limitations of direct agent-to-agent communication have become increasingly apparent. Current architectures suffer from fragmented context, stochastic hallucinations, rigid security boundaries, and inefficient topology management. This paper introduces Cognitive Fabric Nodes (CFN), a novel middleware layer that creates an omnipresent "Cognitive Fabric" between agents. Unlike traditional message queues or service meshes, CFNs are not merely pass-through mechanisms; they are active, intelligent intermediaries. Central to this architecture is the elevation of Memory from simple storage to an active functional substrate that informs four other critical capabilities: Topology Selection, Semantic Grounding, Security Policy Enforcement, and Prompt Transformation. We propose that each of these functions be governed by learning modules utilizing Reinforcement Learning (RL) and optimization algorithms to improve system performance dynamically. By intercepting, analyzing, and rewriting inter-agent communication, the Cognitive Fabric ensures that individual agents remain lightweight while the ecosystem achieves coherence, safety, and semantic alignment. We evaluate the effectiveness of the CFN on the HotPotQA and MuSiQue datasets in a multi-agent environment and demonstrate that the CFN improves performance by more than 10% on both datasets over direct agent to agent communication.

Charles Fleming, Guillaume De Saint Marc, Ramana Kompella +2

Cisco Research

Multi-Agent LLM SystemsMulti-Agent SystemsMulti-Agent CommunicationMemory-Augmented Agents
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Apr 3, 2026

Coupled Control, Structured Memory, and Verifiable Action in Agentic AI (SCRAT -- Stochastic Control with Retrieval and Auditable Trajectories): A Comparative Perspective from Squirrel Locomotion and Scatter-Hoarding

Agentic AI is increasingly judged not by fluent output alone but by whether it can act, remember, and verify under partial observability, delay, and strategic observation. Existing research often studies these demands separately: robotics emphasizes control, retrieval systems emphasize memory, and alignment or assurance work emphasizes checking and oversight. This article argues that squirrel ecology offers a sharp comparative case because arboreal locomotion, scatter-hoarding, and audience-sensitive caching couple all three demands in one organism. We synthesize evidence from fox, eastern gray, and, in one field comparison, red squirrels, and impose an explicit inference ladder: empirical observation, minimal computational inference, and AI design conjecture. We introduce a minimal hierarchical partially observed control model with latent dynamics, structured episodic memory, observer-belief state, option-level actions, and delayed verifier signals. This motivates three hypotheses: (H1) fast local feedback plus predictive compensation improves robustness under hidden dynamics shifts; (H2) memory organized for future control improves delayed retrieval under cue conflict and load; and (H3) verifiers and observer models inside the action-memory loop reduce silent failure and information leakage while remaining vulnerable to misspecification. A downstream conjecture is that role-differentiated proposer/executor/checker/adversary systems may reduce correlated error under asymmetric information and verification burden. The contribution is a comparative perspective and benchmark agenda: a disciplined program of falsifiable claims about the coupling of control, memory, and verifiable action.

Maximiliano Armesto, Christophe Kolb

Taller Technologies

AI Agent ReliabilityMemory-Augmented AgentsAgentic RLAI Agent Auditing
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Apr 3, 2026

QuadAgent: A Responsive Agent System for Vision-Language Guided Quadrotor Agile Flight

We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decouples high-level reasoning from low-level control using an asynchronous multi-agent architecture: Foreground Workflow Agents handle active tasks and user commands, while Background Agents perform look-ahead reasoning. The system maintains scene memory via the Impression Graph, a lightweight topological map built from sparse keyframes, and ensures safe flight with a vision-based obstacle avoidance network. Simulation results show that QuadAgent outperforms baseline methods in efficiency and responsiveness. Real-world experiments demonstrate that it can interpret complex instructions, reason about its surroundings, and navigate cluttered indoor spaces at speeds up to 5 m/s.

Ao Zhuang, Feng Yu, Tianbao Zhang +2

Aerial VLNQuadrotor ControlMemory-Augmented Agents
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Apr 2, 2026

Adaptive Memory Crystallization for Autonomous AI Agent Learning in Dynamic Environments

Autonomous AI agents operating in dynamic environments face a persistent challenge: acquiring new capabilities without erasing prior knowledge. We present Adaptive Memory Crystallization (AMC), a memory architecture for progressive experience consolidation in continual reinforcement learning. AMC is conceptually inspired by the qualitative structure of synaptic tagging and capture (STC) theory, the idea that memories transition through discrete stability phases, but makes no claim to model the underlying molecular or synaptic mechanisms. AMC models memory as a continuous crystallization process in which experiences migrate from plastic to stable states according to a multi-objective utility signal. The framework introduces a three-phase memory hierarchy (Liquid--Glass--Crystal) governed by an Itô stochastic differential equation (SDE) whose population-level behavior is captured by an explicit Fokker--Planck equation admitting a closed-form Beta stationary distribution. We provide proofs of: (i) well-posedness and global convergence of the crystallization SDE to a unique Beta stationary distribution; (ii) exponential convergence of individual crystallization states to their fixed points, with explicit rates and variance bounds; and (iii) end-to-end Q-learning error bounds and matching memory-capacity lower bounds that link SDE parameters directly to agent performance. Empirical evaluation on Meta-World MT50, Atari 20-game sequential learning, and MuJoCo continual locomotion consistently shows improvements in forward transfer (+34--43% over the strongest baseline), reductions in catastrophic forgetting (67--80%), and a 62% decrease in memory footprint.

Rajat Khanda, Mohammad Baqar, Sambuddha Chakrabarti +1

Supermicro San Jose, USA · Cisco Systems San Jose, USA · Princeton University New Jersey, USA +1

Continual LearningMemory-Augmented AgentsContinual RLCatastrophic Forgetting
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Apr 1, 2026

Toward Vibe Medicine: A Self-Evolving Multi-Agent Framework for Clinical Decision Support

In recent years, the advances of large language models and autonomous agents have revolutionized the healthcare field, facilitating diagnosis and improving treatment results. However, most existing AI systems rely on pre-trained knowledge and predefined pipelines, which struggle to learn dynamically from the interactive chat session history that contains patient outcomes and past failures. To address this limitation, we propose VIBEMed, a multi-agent framework with a built-in self-evolution mechanism and architecture-level safety sandbox for robust clinical decision support. The system integrates three specialized agents, including a Clinical Diagnostic Agent (CDA) for hypothesis generation, a Therapeutic Execution Agent (TEA) for treatment planning, and a Clinical Evolution Manager Agent (CEMA) that distills longitudinal clinical feedback into reusable knowledge, transforming multimodal patient information into personalized medical decisions. Through self-evolution mechanism, the framework enables iterative updates across memory, model behavior, and decision strategies, allowing the system to improve over time. Experimental results show that VIBEMed demonstrates superior performance through its evolving mechanism in complex clinical cases, particularly in tasks that require integrated decision-making and longitudinal planning. The framework also supports reliable end-to-end decisions in challenging scenarios such as oncology treatment planning, highlighting its feasibility in real-world clinical contexts. Overall, VIBEMed provides a practical path beyond static AI systems toward adaptive, experience-driven clinical decision support, demonstrating the value of combining multi-agent collaboration with continuous evolution for advancing precision medicine.

Qianxue Zhang, Yiming Ren, Shihuan Qin +18

Medical AI Lab, The First Hospital of Hebei Medical University, Shijiazhuang, 050000, Hebei, China · Hebei Provincial Medical Artificial Intelligence Research Institute, Shijiazhuang, 050000, Hebei, China · Hebei Provincial Engineering Research Center for AI-Based Cancer Treatment Decision-Making, The First Hospital of Hebei Medical University, Shijiazhuang, 050000, Hebei, China +7

Clinical Decision SupportMulti-Agent LLM SystemsSelf-Evolving AgentsMemory-Augmented AgentsMultimodal Agents
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Mar 30, 2026

Dynamic Dual-Granularity Skill Bank for Agentic RL

Agentic RL can benefit substantially from reusable experience, yet existing skill-based methods mainly extract trajectory-level guidance and often lack principled mechanisms for maintaining an evolving skill memory. We propose D2Skill, a dynamic dual-granularity skill bank for agentic RL that organizes reusable experience into task skills for high-level guidance and step skills for fine-grained decision support and error correction. D2Skill jointly trains the policy and skill bank through paired baseline and skill-injected rollouts under the same policy, using their performance gap to derive hindsight utility signals for both skill updating and policy optimization. Built entirely from training-time experience, the skill bank is continuously expanded through reflection and maintained with utility-aware retrieval and pruning. Experiments on ALFWorld, WebShop, and Search-Augmented QA tasks show that D2Skill substantially improves performance over skill-free baselines across models of different scales. Further ablations and analyses show that both dual-granularity skill modeling and dynamic skill maintenance are critical to these gains, while the learned skills exhibit higher utility, transfer across evaluation settings, and introduce only modest training overhead.

Songjun Tu, Chengdong Xu, Qichao Zhang +5

Institute of Automation, Chinese Academy of Sciences · Pengcheng Laboratory · Sun Yat-Sen University +1

LLM Agent Skill LearningAgent Skill LearningAgentic RLMemory-Augmented Agents
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Mar 29, 2026

MuSEAgent: A Multimodal Reasoning Agent with Stateful Experiences

Research agents have recently achieved significant progress in information seeking and synthesis across heterogeneous textual and visual sources. In this paper, we introduce MuSEAgent, a multimodal reasoning agent that enhances decision-making by extending the capabilities of research agents to discover and leverage stateful experiences. Rather than relying on trajectory-level retrieval, we propose a stateful experience learning paradigm that abstracts interaction data into atomic decision experiences through hindsight reasoning. These experiences are organized into a quality-filtered experience bank that supports policy-driven experience retrieval at inference time. Specifically, MuSEAgent enables adaptive experience exploitation through complementary wide- and deep-search strategies, allowing the agent to dynamically retrieve multimodal guidance across diverse compositional semantic viewpoints. Extensive experiments demonstrate that MuSEAgent consistently outperforms strong trajectory-level experience retrieval baselines on both fine-grained visual perception and complex multimodal reasoning tasks. These results validate the effectiveness of stateful experience modeling in improving multimodal agent reasoning.

Shijian Wang, Jiarui Jin, Runhao Fu +11

Southeast University · Monash University · Xiaohongshu Inc. +4

Multimodal AgentsMultimodal ReasoningMemory-Augmented Agents
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Mar 26, 2026

Social Hippocampus Memory Learning

Social learning highlights that learning agents improve not in isolation, but through interaction and structured knowledge exchange with others. When introduced into machine learning, this principle gives rise to social machine learning (SML), where multiple agents collaboratively learn by sharing abstracted knowledge. Federated learning (FL) provides a natural collaboration substrate for this paradigm, yet existing heterogeneous FL approaches often rely on sharing model parameters or intermediate representations, which may expose sensitive information and incur additional overhead. In this work, we propose SoHip (Social Hippocampus Memory Learning), a memory-centric social machine learning framework that enables collaboration among heterogeneous agents via memory sharing rather than model sharing. SoHip abstracts each agent's individual short-term memory from local representations, consolidates it into individual long-term memory through a hippocampus-inspired mechanism, and fuses it with collectively aggregated long-term memory to enhance local prediction. Throughout the process, raw data and local models remain on-device, while only lightweight memory are exchanged. We provide theoretical analysis on convergence and privacy preservation properties. Experiments on two benchmark datasets with seven baselines demonstrate that SoHip consistently outperforms existing methods, achieving up to 8.78% accuracy improvements.

Liping Yi, Zhiming Zhao, Qinghua Hu

College of Artificial Intelligence, Tianjin University.

Memory-Augmented AgentsHeterogeneous Federated LearningFederated Learning
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Mar 25, 2026

Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation

Robots often observe information that determines a future action long before that action is executed. In a shell game, for example, a robot first sees which cup hides the ball, watches the cups move, and only later needs to choose the correct cup. The final observation alone is not enough for a decision: the correct action depends on an earlier event. We refer to this temporal gap as observation-action delay. It makes memory a policy-facing problem: a policy must keep similar histories distinct, retrieve the past event relevant to the current decision, and convert that recall into an action-ready state. We call these requirements separability, addressability, and prospectiveness. We introduce Chameleon, a ~60M visuomotor policy for control-indexed prospective memory. Chameleon writes embodied event memory, preserves separable histories, retrieves control-relevant traces, and trains the resulting working state to be prospective. We also introduce Camo-Dataset, a real-robot benchmark that isolates observation-action delay by making the decision scene visually ambiguous, so the correct action must be inferred from earlier observations. Chameleon improves decision/end-to-end success on Camo-Dataset from 22.5%/21.3% to 80.8%/71.3%. On public long-horizon memory benchmarks, it achieves 87.1% +/- 0.8% on LIBERO-10, 97.3% +/- 4.5% on MemoryBench, and 75.1% +/- 1.4% on MIKASA-Robo, setting the state of the art for same-size models and exceeding multiple larger VLA baselines under the reported protocols. Probes and ablations show that Chameleon learns separable, addressable, and prospective memory, and that these properties drive its performance gains.

Xinying Guo, Chenxi Jiang, Hyun Bin Kim +4

MARS Lab, Nanyang Technological University · Institute for Infocomm Research, A*STAR · National University of Singapore

Memory-Augmented AgentsLong-Horizon Robotic ManipulationVisuomotor Policy LearningRobot Manipulation Benchmarks
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Mar 25, 2026

VehicleMemBench: An Executable Benchmark for Multi-User Long-Term Memory in In-Vehicle Agents

With the growing demand for intelligent in-vehicle experiences, vehicle-based agents are evolving from simple assistants to long-term companions. This evolution requires agents to continuously model multi-user preferences and make reliable decisions in the face of inter-user preference conflicts and changing habits over time. However, existing benchmarks are largely limited to single-user, static question-answer settings, failing to capture the temporal evolution of preferences and the multi-user, tool-interactive nature of real vehicle environments. To address this gap, we introduce VehicleMemBench, a multi-user long-context memory benchmark built on an executable in-vehicle simulation environment. The benchmark evaluates tool use and memory by comparing the post-action environment state with a predefined target state, enabling objective and reproducible evaluation without LLM-based or human scoring. VehicleMemBench includes 23 tool modules, and each sample contains over 80 historical memory events. Experiments show that powerful models perform well on direct instruction tasks but struggle in scenarios involving memory evolution, particularly when user preferences change dynamically. Even advanced memory systems struggle to handle domain-specific memory requirements in this environment. These findings highlight the need for more robust and specialized memory management mechanisms to support long-term adaptive decision-making in real-world in-vehicle systems. To facilitate future research, we release the data and code.

Yuhao Chen, Yi Xu, Xinyun Ding +7

University of Science and Technology of China · iFLYTEK Research · Xiamen University +1

Memory Agent BenchmarksMemory-Augmented AgentsLong-Horizon Agent Evaluation
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Mar 24, 2026

StateLinFormer: Stateful Training Enhancing Long-term Memory in Navigation

Effective navigation intelligence relies on long-term memory to support both immediate generalization and sustained adaptation. However, existing approaches face a dilemma: modular systems rely on explicit mapping but lack flexibility, while Transformer-based end-to-end models are constrained by fixed context windows, limiting persistent memory across extended interactions. We introduce StateLinFormer, a linear-attention navigation model trained with a stateful memory mechanism that preserves recurrent memory states across consecutive training segments instead of reinitializing them at each batch boundary. This training paradigm effectively approximates learning on infinitely long sequences, enabling the model to achieve long-horizon memory retention. Experiments across both MAZE and ProcTHOR environments demonstrate that StateLinFormer significantly outperforms its stateless linear-attention counterpart and standard Transformer baselines with fixed context windows. Notably, as interaction length increases, persistent stateful training substantially improves context-dependent adaptation, suggesting an enhancement in the model's In-Context Learning (ICL) capabilities for navigation tasks.

Zhiyuan Chen, Yuxuan Zhong, Fan Wang +4

Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China

Linear AttentionIn-Context LearningMemory-Augmented Agents
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Mar 23, 2026

StreamingClaw Technical Report

Emerging applications such as embodied intelligence, AI hardware, autonomous driving, and intelligent cockpits rely on a real-time perception-decision-action closed loop, posing stringent challenges for streaming video understanding. However, current agents mostly suffer from fragmented capabilities, such as supporting only offline video understanding, lacking long-term multimodal memory mechanisms, or struggling to achieve real-time reasoning and proactive interaction under streaming input. These shortcomings have become a key bottleneck for preventing agents from sustaining perception, making real-time decisions, and executing closed-loop actions in complex real-world environments, constraining their deployment and potential in dynamic, open physical worlds. To alleviate these issues, we propose StreamingClaw, a unified agent framework for streaming video understanding and embodied intelligence. Beyond maintaining full compatibility with the OpenClaw framework, it natively supports real-time, multimodal streaming interactions. StreamingClaw integrates five core capabilities: (1) It supports real-time streaming reasoning. (2) It supports reasoning about future events and proactive interaction under the online evolution of interaction objectives. (3) It supports multimodal long-term memory storage, hierarchical memory evolution, efficient memory retrieval, and memory sharing across multiple agents. (4) It supports a closed loop of perception-decision-action. In addition to conventional tools and skills, it also provides streaming tools and action-centric skills tailored for real-world physical environments. (5) It is compatible with the OpenClaw framework, allowing it to leverage the resources and support of the open-source community.

Jiawei Chen, Zhe Chen, Chaoqun Du +21

Li Auto Inc.

Proactive AgentsMultimodal AgentsAgentic AIStreaming Video UnderstandingEmbodied AIMemory-Augmented Agents
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Mar 22, 2026

STEM Agent: A Self-Adapting, Tool-Enabled, Extensible Architecture for Multi-Protocol AI Agent Systems

Current AI agent frameworks commit early to a single interaction protocol, a fixed tool integration strategy, and static user models, limiting their deployment across diverse interaction paradigms. To address these constraints, we introduce STEM Agent (Self-adapting, Tool-enabled, Extensible, Multi-agent), a modular architecture inspired by biological pluripotency in which an undifferentiated agent core differentiates into specialized protocol handlers, tool bindings, and memory subsystems that compose into a fully functioning AI system. The framework unifies five interoperability protocols (A2A, AG-UI, A2UI, UCP, and AP2) behind a single gateway, introduces a Caller Profiler that continuously learns user preferences across more than twenty behavioral dimensions, externalizes all domain capabilities through the Model Context Protocol (MCP), and implements a biologically inspired skills acquisition system in which recurring interaction patterns crystallize into reusable agent skills through a maturation lifecycle analogous to cell differentiation. Complementing these capabilities, the memory system incorporates consolidation mechanisms, including episodic pruning, semantic deduplication, and pattern extraction, designed for sub-linear growth under sustained interaction. A comprehensive 413-test suite validates protocol handler behavior and component integration across all five architectural layers, completing in under three seconds.

Alfred Shen, Aaron Shen

Agentic AISelf-Evolving AgentsCognitive Architectures for AI AgentsAgent Skill LearningMemory-Augmented Agents
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Mar 21, 2026

MemoNoveltyAgent: A Historical Research Memory-Aware Agent Workflow for Paper Novelty Assessment

To alleviate the heavy burden of paper screening, researchers increasingly rely on existing AI agents, such as AI reviewers or DeepResearch, for paper evaluation and novelty assessment. However, lacking specialized mechanisms for processing scholarly literature, their analyses often produce superficial results with noticeable deficiencies in quality. To bridge this gap, we introduce MemoNoveltyAgent, a multi-agent system designed to generate comprehensive and faithful novelty reports. Beyond retrieving concrete prior-paper evidence via RAG, our system incorporates a high-level abstract memory constructed from large-scale scholarly corpora. This memory organizes research into hierarchical trees to distill field-specific evolutionary trajectories, thereby providing a broader historical context. Furthermore, we decompose papers into discrete novelty points for fine-grained analysis and retrieval, while employing a self-validation mechanism to improve report faithfulness. Finally, to address the evaluation challenges of such open-ended generation tasks, we propose a RAG-augmented checklist evaluation method that enables reliable and evidence-grounded assessments. Extensive experiments demonstrate that MemoNoveltyAgent outperforms GPT-5 DeepResearch by 13.69%. Code and demo are available at https://github.com/SStan1/MemoNoveltyAgent

Jiajun Hou, Hexuan Deng, Wenxiang Jiao +4

The Chinese University of Hong Kong, Shenzhen, China · Institute of Computing and Intelligence, Harbin Institute of Technology, Shenzhen, China · Zhongguancun Academy, Beijing, China +2

Agentic RAGMemory-Augmented AgentsNovelty SearchAutomated Peer ReviewRAG Evaluation
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Mar 21, 2026

Learning to Remember: Attentive Reinforcement Learning for Edge Serverless Autoscaling

In edge computing, the stochastic and bursty nature of serverless workloads challenges autonomous resource orchestration. Traditional reactive controllers, such as the Kubernetes Horizontal Pod Autoscaler (HPA), suffer from reaction latency, leading to Service Level Objective (SLO) violations during traffic spikes and resource flapping during ramp-downs. While Deep Reinforcement Learning (DRL) offers a pathway toward proactive management, standard agents suffer from temporal blindness, an inability to exploit the recent temporal context in non-Markovian edge environments. To bridge this gap, we propose a stability-aware autoscaling framework unifying short-horizon temporal context and control via an Attention-Enhanced Double-Stacked LSTM architecture integrated within a Proximal Policy Optimization (PPO) agent. Unlike shallow recurrent models, our approach employs a learned attention mechanism that weights recent historical states non-uniformly, suppressing high-frequency jitter while preserving the trend that precedes demand shifts. We validate the framework on two independent Kubernetes clusters using real-world Azure Functions traces. Against the single-layer LSTM ablation and the static HPA baseline, our approach reduces P90 latency by ≈\approx67%, and holds average latency within the 50ms hard SLO for 98.8% of the run against 49.6% and 43.5% respectively. Against Kubernetes Event-Driven Autoscaling (KEDA), it matches latency performance at 75% fewer replica-steps and 59% less churn, with P90 hard-SLO violation bursts of at most 5 consecutive intervals against up to 24 for KEDA. These results indicate that mitigating temporal blindness through deep attentive memory improves the reliability and stability of Kubernetes autoscaling under bursty edge workloads.

Faraz Shaikh, Gianluca Reali, Mauro Femminella

Department of Engineering, University of Perugia, Perugia, Italy · Consorzio Nazionale Interuniversitario per le Telecomunicazioni (CNIT), 43124 Parma, Italy

RL ControlReinforcement LearningEdge ComputingMemory-Augmented Agents
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Mar 21, 2026

REVERE: Reflective Evolving Research Engineer

Existing prompt-optimization techniques rely on local signals, causing poor generalization across tasks. In addition, they also rely on weak update mechanisms, such as full-prompt rewrites or unstructured merges, which cause knowledge loss and unstable adaptation. These limitations are magnified in research-coding workflows, which involve heterogeneous repositories and weak feedback, limiting abstraction and learning across tasks. We introduce Reflective Evolving Research Engineer (REVERE), a lightweight, self-adapting agent framework that learns from a Global Training Context, distills recurring cross-repository failure modes into reusable heuristics, and applies targeted, code-based edits to agent prompts. REVERE is evaluated across settings ranging from long-horizon to single-shot benchmarks, and improves over prior expert-crafted instructions by 4.50% on SUPER, 1.3% on ResearchCodeBench, and 4.89% on ScienceAgentBench. It does so at nearly 10x lower cost and 2.7x faster adaptation than existing prompt-optimization baselines, demonstrating that self-adapting agents with continual learning and global memory consolidation can meaningfully evolve their capabilities over time.

Balaji Dinesh Gangireddi, Aniketh Garikaparthi, Manasi Patwardhan +1

TCS Research · Yale University

LLM Agent Self-ImprovementPrompt OptimizationSoftware Engineering AgentsContinual Learning for LLM AgentsMemory-Augmented Agents
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Mar 20, 2026

Memory poisoning and secure multi-agent systems

Memory poisoning attacks for Agentic AI and multi-agent systems (MAS) have recently caught attention. It is partially due to the fact that Large Language Models (LLMs) facilitate the construction and deployment of agents. Different memory systems are being used nowadays in this context, including semantic, episodic, and short-term memory. This distinction between the different types of memory systems focuses mostly on their duration but also on their origin and their localization. It ranges from the short-term memory originated at the user's end localized in the different agents to the long-term consolidated memory localized in well established knowledge databases. In this paper, we first present the main types of memory systems, we then discuss the feasibility of memory poisoning attacks in these different types of memory systems, and we propose mitigation strategies. We review the already existing security solutions to mitigate some of the alleged attacks, and we discuss adapted solutions based on cryptography. We propose to implement local inference based on private knowledge retrieval as an example of mitigation strategy for memory poisoning for semantic memory. We also emphasize actual risks in relation to interactions between agents, which can cause memory poisoning. These latter risks are not so much studied in the literature and are difficult to formalize and solve. Thus, we contribute to the construction of agents that are secure by design.

Vicenç Torra, Maria Bras-Amorós

Department of Computing Science, Umeå University, Umeå, Sweden. · Departament of Mathematics, Universitat Politècnica de Catalunya, Catalonia, Spain.

Agent Memory PoisoningAI Agent SecurityMulti-Agent System SecurityMemory-Augmented Agents
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Mar 20, 2026

Semantic Audio-Visual Navigation in Continuous Environments

Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio rendering, restricting agents to discrete grid positions and leading to spatially discontinuous observations. To establish a more realistic setting, we introduce Semantic Audio-Visual Navigation in Continuous Environments (SAVN-CE), where agents can move freely in 3D spaces and perceive temporally and spatially coherent audio-visual streams. In this setting, targets may intermittently become silent or stop emitting sound entirely, causing agents to lose goal information. To tackle this challenge, we propose MAGNet, a multimodal transformer-based model that jointly encodes spatial and semantic goal representations and integrates historical context with self-motion cues to enable memory-augmented goal reasoning. Comprehensive experiments demonstrate that MAGNet significantly outperforms state-of-the-art methods, achieving up to a 12.1% absolute improvement in success rate. These results also highlight its robustness to short-duration sounds and long-distance navigation scenarios. The code is available at https://github.com/yichenzeng24/SAVN-CE.

Yichen Zeng, Hebaixu Wang, Meng Liu +4

Wuhan University · Zhongguancun Academy · Shandong Jianzhu University +4

Audio-Visual NavigationMultimodal TransformerEmbodied NavigationRobot NavigationMemory-Augmented AgentsMultimodal Learning
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Mar 19, 2026

MemoAct: Atkinson-Shiffrin-Inspired Hierarchical Memory-Augmented Policy for Robotic Manipulation

Memory-augmented robotic policies are essential in handling memory-dependent tasks. However, existing approaches typically rely on simply extending the observation window, struggling to simultaneously achieve precise task-state tracking and robust long-horizon retention. To overcome these challenges, inspired by the Atkinson--Shiffrin memory model, we propose MemoAct, a hierarchical memory-augmented policy that leverages distinct memory tiers to tackle specific bottlenecks. Specifically, sensory memory filters immediate perceptual inputs, lossless short-term memory supports precise task-state tracking, and compressed long-term memory facilitates robust long-horizon retention. To enrich the evaluation landscape, we construct MemoryRTBench based on RoboTwin 2.0, comprising 6 manipulation tasks that systematically evaluate policy memory capabilities across three dimensions: sequential, spatial, and episodic memory. Extensive experiments across simulated and real-world scenarios demonstrate that MemoAct achieves superior performance compared to both existing Markovian baselines and history-aware policies. The project page is available at https://tlf-tlf.github.io/MemoActPage/.

Liufan Tan, Jiale Li, Gangshan Jing

Memory-Augmented AgentsRobot Policy LearningLong-Horizon Robotic ManipulationRobotic ManipulationRobot Manipulation Benchmarks
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Mar 19, 2026

AndroTMem: From Interaction Trajectories to Anchored Memory in Long-Horizon GUI Agents

Long-horizon GUI agents are a key step toward real-world deployment, yet effective interaction memory under prevailing paradigms remains under-explored. Replaying full interaction sequences is redundant and amplifies noise, while summaries often erase dependency-critical information and traceability. We present AndroTMem, a diagnostic framework for anchored memory in long-horizon Android GUI agents. Its core benchmark, AndroTMem-Bench, comprises 1,069 tasks with 34,473 interaction steps (avg. 32.1 per task, max. 65). We evaluate agents with TCR (Task Complete Rate), focusing on tasks whose completion requires carrying forward critical intermediate state; AndroTMem-Bench is designed to enforce strong step-to-step causal dependencies, making sparse yet essential intermediate states decisive for downstream actions and centering interaction memory in evaluation. Across open- and closed-source GUI agents, we observe a consistent pattern: as interaction sequences grow longer, performance drops are driven mainly by within-task memory failures, not isolated perception errors or local action mistakes. Guided by this diagnosis, we propose Anchored State Memory (ASM), which represents interaction sequences as a compact set of causally linked intermediate-state anchors to enable subgoal-targeted retrieval and attribution-aware decision making. Across multiple settings and 12 evaluated GUI agents, ASM consistently outperforms full-sequence replay and summary-based baselines, improving TCR by 5%-30.16% and AMS by 4.93%-24.66%, indicating that anchored, structured memory effectively mitigates the interaction-memory bottleneck in long-horizon GUI tasks. The code, benchmark, and related resources are publicly available at https://github.com/CVC2233/AndroTMem.

Yibo Shi, Jungang Li, Linghao Zhang +25

XJTU · HKUST(GZ) · HKUST +8

Agent MemoryMemory-Augmented AgentsAgent Memory ManagementMobile GUI AgentsMemory Agent BenchmarksLong-Horizon Agent Evaluation
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Mar 12, 2026

XSkill: Continual Learning from Experience and Skills in Multimodal Agents

Multimodal agents can now tackle complex reasoning tasks with diverse tools, yet they still suffer from inefficient tool use and inflexible orchestration in open-ended settings. A central challenge is enabling such agents to continually improve without parameter updates by learning from past trajectories. We identify two complementary forms of reusable knowledge essential for this goal: experiences, providing concise action-level guidance for tool selection and decision making, and skills, providing structured task-level guidance for planning and tool use. To this end, we propose XSkill, a dual-stream framework for continual learning from experience and skills in multimodal agents. XSkill grounds both knowledge extraction and retrieval in visual observations. During accumulation, XSkill distills and consolidates experiences and skills from multi-path rollouts via visually grounded summarization and cross-rollout critique. During inference, it retrieves and adapts this knowledge to the current visual context and feeds usage history back into accumulation to form a continual learning loop. Evaluated on five benchmarks across diverse domains with four backbone models, XSkill consistently and substantially outperforms both tool-only and learning-based baselines. Further analysis reveals that the two knowledge streams play complementary roles in influencing the reasoning behaviors of agents and show superior zero-shot generalization.

Guanyu Jiang, Zhaochen Su, Xiaoye Qu +1

Hong Kong University of Science and Technology · Zhejiang University · Huazhong University of Science and Technology

Agent Skill LearningMultimodal AgentsMemory-Augmented Agents
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Mar 10, 2026

Memory-Guided View Refinement for Dynamic Human-in-the-loop EQA

Embodied Question Answering (EQA) has traditionally been evaluated in temporally stable environments where visual evidence can be accumulated reliably. However, in dynamic, human-populated scenes, human activities and occlusions introduce significant perceptual non-stationarity: task-relevant cues are transient and view-dependent, while a store-then-retrieve strategy over-accumulates redundant evidence and increases inference cost. This setting exposes two practical challenges for EQA agents: resolving ambiguity caused by viewpoint-dependent occlusions, and maintaining compact yet up-to-date evidence for efficient inference. To enable systematic study of this setting, we introduce DynHiL-EQA, a human-in-the-loop EQA dataset with two subsets: a Dynamic subset featuring human activities and temporal changes, and a Static subset with temporally stable observations. To address the above challenges, we present DIVRR (Dynamic-Informed View Refinement and Relevance-guided Adaptive Memory Selection), a training-free framework that couples relevance-guided view refinement with selective memory admission. By verifying ambiguous observations before committing them and retaining only informative evidence, DIVRR improves robustness under occlusions while preserving fast inference with compact memory. Extensive experiments on DynHiL-EQA and the established HM-EQA dataset demonstrate that DIVRR consistently improves over existing baselines in both dynamic and static settings while maintaining high inference efficiency.

Xin Lu, Rui Li, Xun Huang +6

University of Chinese Academy of Sciences, China · Zhongguancun Academy, China · Beihang University, China +2

Embodied QAMemory-Augmented Agents
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Mar 10, 2026

Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks

The high cost of collecting real-robot data has made robotic simulation a scalable platform for both evaluation and data generation. Yet most existing benchmarks concentrate on simple manipulation tasks such as pick-and-place, failing to capture the non-Markovian characteristics of real-world tasks and the complexity of articulated object interactions. To address this limitation, we present RuleSafe, a new articulated manipulation benchmark built upon a scalable LLM-aided simulation framework. RuleSafe features safes with diverse unlocking mechanisms, such as key locks, password locks, and logic locks, which require different multi-stage reasoning and manipulation strategies. These LLM-generated rules produce non-Markovian and long-horizon tasks that require temporal modeling and memory-based reasoning. We further propose VQ-Memory, a compact and structured temporal representation that uses vector-quantized variational autoencoders (VQ-VAEs) to encode past proprioceptive states into discrete latent tokens. This representation filters low-level noise while preserving high-level task-phase context, providing lightweight yet robust temporal cues that are compatible with existing Vision-Language-Action models (VLA). Extensive experiments on state-of-the-art VLA models and diffusion policies show that VQ-Memory consistently improves long-horizon planning, enhances generalization to unseen configurations, and enables more efficient manipulation with reduced computational cost. Project page: vqmemory.github.io

Honghui Wang, Zhi Jing, Jicong Ao +4

Tsinghua University · Fudan University · Institute of Artificial Intelligence (TeleAI), China Telecom

Long-Horizon Robotic ManipulationRobot Manipulation BenchmarksMemory-Augmented AgentsArticulated Object ManipulationRobotics SimulationVector-Quantized Variational Autoencoder
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Mar 9, 2026

EvoScientist: Towards Multi-Agent Evolving AI Scientists for End-to-End Scientific Discovery

The increasing adoption of Large Language Models (LLMs) has enabled AI scientists to perform complex end-to-end scientific discovery tasks requiring coordination of specialized roles, including idea generation and experimental execution. However, most state-of-the-art AI scientist systems rely on static, hand-designed pipelines and fail to adapt based on accumulated interaction histories. As a result, these systems overlook promising research directions, repeat failed experiments, and pursue infeasible ideas. To address this, we introduce EvoScientist, an evolving multi-agent AI scientist framework that continuously improves research strategies through persistent memory and self-evolution. EvoScientist comprises three specialized agents: a Researcher Agent (RA) for scientific idea generation, an Engineer Agent (EA) for experiment implementation and execution, and an Evolution Manager Agent (EMA) that distills insights from prior interactions into reusable knowledge. EvoScientist contains two persistent memory modules: (i) an ideation memory, which summarizes feasible research directions from top-ranked ideas while recording previously unsuccessful directions; and (ii) an experimentation memory, which captures effective data processing and model training strategies derived from code search trajectories and best-performing implementations. These modules enable the RA and EA to retrieve relevant prior strategies, improving idea quality and code execution success rates over time. Experiments show that EvoScientist outperforms 7 open-source and commercial state-of-the-art systems in scientific idea generation, achieving higher novelty, feasibility, relevance, and clarity via automatic and human evaluation. EvoScientist also substantially improves code execution success rates through multi-agent evolution, demonstrating persistent memory's effectiveness for end-to-end scientific discovery.

Yougang Lyu, Xi Zhang, Yuyue Zhao +11

Huawei Technologies Co., Ltd. · Vrije Universiteit Amsterdam

Multi-Agent LLM SystemsAI Agents for Scientific DiscoveryScientific Code GenerationMemory-Augmented AgentsSelf-Evolving Agents
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Mar 9, 2026

CMMR-VLN: Vision-and-Language Navigation via Continual Multimodal Memory Retrieval

Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori experiences to help navigation tasks, limiting their performance in long-horizon and unfamiliar scenarios. In this work, we propose CMMR-VLN (Continual Multimodal Memory Retrieval based VLN), a VLN framework that endows LLM agents with structured memory and reflection capabilities. Specifically, the CMMR-VLN constructs a multimodal experi- ence memory indexed by panoramic visual images and salient landmarks to retrieve relevant experiences during navigation, introduces a retrieved-augmented generation pipeline to mimick how experienced human navigators leverage priori knowledge, and incorporates a reflection-based memory update strategy that selectively stores complete successful paths and the key initial mistake in failure cases. Comprehensive tests illustrate average success rate improvements of 52.9%, 20.9% and 20.9%, and 200%, 50% and 50% over the NavGPT, the MapGPT, and the DiscussNav in simulation and real tests, respectively eluci- dating the great potential of the CMMR-VLN as a backbone VLN framework.

Haozhou Li, Xiangyu Dong, Huiyan Jiang +2

The authors are with the Foshan Graduate School of Innovation at Northeastern University, Foshan, China · The authors are with the College of Software at Northeastern University, Shenyang, China · The authors are with the School of Aeronautic Science and Engineering at Beihang University, Beijing, China +1

Vision-Language NavigationMemory-Augmented Agents
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Mar 8, 2026

Did You Check the Right Pocket? Cost-Sensitive Store Routing for Memory-Augmented Agents

Memory-augmented agents maintain multiple specialized stores, yet most systems retrieve from all stores for every query, increasing cost and introducing irrelevant context. We formulate memory retrieval as a store-routing problem and evaluate it using coverage, exact match, and token efficiency metrics. On downstream question answering, an oracle router achieves higher accuracy while using substantially fewer context tokens compared to uniform retrieval, demonstrating that selective retrieval improves both efficiency and performance. Our results show that routing decisions are a first-class component of memory-augmented agent design and motivate learned routing mechanisms for scalable multi-store systems. We additionally formalize store selection as a cost-sensitive decision problem that trades answer accuracy against retrieval cost, providing a principled interpretation of routing policies.

Madhava Gaikwad

Memory-Augmented AgentsAgent Memory ManagementLLM Agent RoutingCost-Aware Inference
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Mar 7, 2026

SoK: Agentic Retrieval-Augmented Generation (RAG): Taxonomy, Architectures, Evaluation, and Research Directions

Retrieval-Augmented Generation (RAG) systems are increasingly evolving into agentic architectures where large language models autonomously coordinate multi-step reasoning, dynamic memory management, and iterative retrieval strategies. Despite rapid industrial adoption, current research lacks a systematic understanding of Agentic RAG as a sequential decision-making system, leading to highly fragmented architectures, inconsistent evaluation methodologies, and unresolved reliability risks. This Systematization of Knowledge (SoK) paper provides the first unified framework for understanding these autonomous systems. We formalize agentic retrieval-generation loops as finite-horizon partially observable Markov decision processes, explicitly modeling their control policies and state transitions. Building upon this formalization, we develop a comprehensive taxonomy and modular architectural decomposition that categorizes systems by their planning mechanisms, retrieval orchestration, memory paradigms, and tool-invocation behaviors. We further analyze the critical limitations of traditional static evaluation practices and identify severe systemic risks inherent to autonomous loops, including compounding hallucination propagation, memory poisoning, retrieval misalignment, and cascading tool-execution vulnerabilities. Finally, we outline key doctoral-scale research directions spanning stable adaptive retrieval, cost-aware orchestration, formal trajectory evaluation, and oversight mechanisms, providing a definitive roadmap for building reliable, controllable, and scalable agentic retrieval systems.

Saroj Mishra, Suman Niroula, Umesh Yadav +3

University of North Dakota · Youngstown State University · University of Toledo +2

Agentic RAGRAG RobustnessRAG EvaluationMemory-Augmented Agents
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Mar 5, 2026

EchoGuard: An Agentic Framework with Knowledge-Graph Memory for Detecting Manipulative Communication in Longitudinal Dialogue

Manipulative communication, such as gaslighting, guilt-tripping, and emotional coercion, is often difficult for individuals to recognize. Existing agentic AI systems lack the structured, longitudinal memory to track these subtle, context-dependent tactics, often failing due to limited context windows and catastrophic forgetting. We introduce EchoGuard, an agentic AI framework that addresses this gap by using a Knowledge Graph (KG) as the agent's core episodic and semantic memory. EchoGuard employs a structured Log-Analyze-Reflect loop: (1) users log interactions, which the agent structures as nodes and edges in a personal, episodic KG (capturing events, emotions, and speakers); (2) the system executes complex graph queries to detect six psychologically-grounded manipulation patterns (stored as a semantic KG); and (3) an LLM generates targeted Socratic prompts grounded by the subgraph of detected patterns, guiding users toward self-discovery. This framework demonstrates how the interplay between agentic architectures and Knowledge Graphs can empower individuals in recognizing manipulative communication while maintaining personal autonomy and safety. We present the theoretical foundation, framework design, a comprehensive evaluation strategy, and a vision to validate this approach.

Ratna Kandala, Niva Manchanda, Akshata Kishore Moharir +1

University of Kansas · University of Maryland · University of Florida

Agentic AIMemory-Augmented Agents
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Mar 4, 2026

From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO

Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- the robot can break complex tasks down into semantic subtasks. However, the fundamental bottleneck is that the robot needs skills to ground these subtasks into embodied motions. Skills can take many forms (e.g., trajectory snippets, motion primitives, coded functions), but regardless of their form skills act as a constraint. The high-level policy can only ground its language reasoning through the available skills; if the robot cannot generate the right skill for the current task, its policy will fail. We propose to address this limitation -- and dynamically expand the robot's skills -- by leveraging user feedback. When a robot fails, humans can intuitively explain what went wrong (e.g., ``no, go higher''). While a simple approach is to recall this exact text the next time the robot faces a similar situation, we hypothesize that by collecting, clustering, and re-phrasing natural language corrections across multiple users and tasks, we can synthesize more general text guidance and coded skill templates. Applying this hypothesis we develop Memory Enhanced Manipulation (MEMO). MEMO builds and maintains a retrieval-augmented skillbook gathered from human feedback and task successes. At run time, MEMO retrieves relevant text and code from this skillbook, enabling the robot's policy to generate new skills while reasoning over multi-task human feedback. Our experiments demonstrate that using MEMO to aggregate local feedback into general skill templates enables generalization to novel tasks where existing baselines fall short. See supplemental material here: https://collab.me.vt.edu/memo

Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2

Collab, Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, USA. · TEA Lab, Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, USA.

Robot Skill LearningLanguage-Conditioned Robot ManipulationGeneralization in Robotic ManipulationRobot Policy GeneralizationNeurosymbolic LearningMemory-Augmented Agents+1
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Mar 4, 2026

A Dual-Helix Governance Approach Towards Reliable Agentic Artificial Intelligence for WebGIS Development

WebGIS development requires consistency, yet agentic AI often fails due to LLM context constraints, forgetting, stochasticity, instruction failure, and adaptation rigidity. We propose a dual-helix governance framework reframing these as structural problems rather than capacity deficits. Using a 3-track architecture (Knowledge, Behavior, Skills) and a persistent knowledge graph, it stabilizes execution by externalizing facts and enforcing protocols. Validation shows a governed agent successfully refactored a legacy WebGIS codebase (reducing cyclomatic complexity and improving maintainability), roughly halved trial-to-trial output variance relative to static prompting in a controlled experiment, and prevented common infodemic mapping errors in a 5-condition COVID-19 cartography ablation study. Operationalized via the open-source AgentLoom toolkit, this externalized governance provides the stability necessary for production-level geospatial engineering.

Boyuan Guan, Wencong Cui, Levente Juhasz

Geographic Information Systems Center, Florida International University, Miami, FL, USA · Geospatial Analytics, Technology and Open Research Lab, University of Florida, Fort Lauderdale, FL, USA

Software Engineering AgentsAI Coding AgentsAI Agent GovernanceMemory-Augmented AgentsLLM Agent Reliability
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