# KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systems

arXiv: https://arxiv.org/abs/2409.14908 · HTML: https://mlsanity.com/paper/2409.14908/

## Key facts

- Cited by 39 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 60 of its 76 references that are in the map.
- First posted on arXiv 23 Sep 2024.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 60)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [From Local to Global: A Graph RAG Approach to Query-Focused Summarization](https://mlsanity.com/paper/2404.16130/) (2024)
- [MemGPT: Towards LLMs as Operating Systems](https://mlsanity.com/paper/2310.08560/) (2023)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [ChatDev: Communicative Agents for Software Development](https://mlsanity.com/paper/2307.07924/) (2023)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [MemoryBank: Enhancing Large Language Models with Long-Term Memory](https://mlsanity.com/paper/2305.10250/) (2023)
- [Retrieval-Augmented Generation for AI-Generated Content: A Survey](https://mlsanity.com/paper/2402.19473/) (2024)
- [Character-LLM: A Trainable Agent for Role-Playing](https://mlsanity.com/paper/2310.10158/) (2023)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [Ghost in the Minecraft: Generally Capable Agents for Open-World Environments via Large Language Models with Text-based Knowledge and Memory](https://mlsanity.com/paper/2305.17144/) (2023)
- [CodeAgent: Enhancing Code Generation with Tool-Integrated Agent Systems for Real-World Repo-level Coding Challenges](https://mlsanity.com/paper/2401.07339/) (2024)
- [3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera](https://mlsanity.com/paper/1910.02527/) (2019)
- [Building Cooperative Embodied Agents Modularly with Large Language Models](https://mlsanity.com/paper/2307.02485/) (2023)
- [S3: Social-network Simulation System with Large Language Model-Empowered Agents](https://mlsanity.com/paper/2307.14984/) (2023)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [Generation-Augmented Retrieval for Open-domain Question Answering](https://mlsanity.com/paper/2009.08553/) (2020)
- [RoleLLM: Benchmarking, Eliciting, and Enhancing Role-Playing Abilities of Large Language Models](https://mlsanity.com/paper/2310.00746/) (2023)
- [JARVIS-1: Open-World Multi-task Agents with Memory-Augmented Multimodal Language Models](https://mlsanity.com/paper/2311.05997/) (2023)

## Built on by (most cited first, 30 of 39)

- [Survey on Evaluation of LLM-based Agents](https://mlsanity.com/paper/2503.16416/) (2025)
- [Advances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systems](https://mlsanity.com/paper/2504.01990/) (2025)
- [SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents](https://mlsanity.com/paper/2412.13178/) (2024)
- [Agentic Memory: Learning Unified Long-Term and Short-Term Memory Management for Large Language Model Agents](https://mlsanity.com/paper/2601.01885/) (2026)
- [Hindsight is 20/20: Building Agent Memory that Retains, Recalls, and Reflects](https://mlsanity.com/paper/2512.12818/) (2025)
- [LoHoVLA: A Unified Vision-Language-Action Model for Long-Horizon Embodied Tasks](https://mlsanity.com/paper/2506.00411/) (2025)
- [3DLLM-Mem: Long-Term Spatial-Temporal Memory for Embodied 3D Large Language Model](https://mlsanity.com/paper/2505.22657/) (2025)
- [Anatomy of Agentic Memory: Taxonomy and Empirical Analysis of Evaluation and System Limitations](https://mlsanity.com/paper/2602.19320/) (2026)
- [Embodied Agents Meet Personalization: Investigating Challenges and Solutions Through the Lens of Memory Utilization](https://mlsanity.com/paper/2505.16348/) (2025)
- [How Fast Can I Run My VLA? Demystifying VLA Inference Performance with VLA-Perf](https://mlsanity.com/paper/2602.18397/) (2026)
- [Large language models for artificial general intelligence (AGI): A survey of foundational principles and approaches](https://mlsanity.com/paper/2501.03151/) (2025)
- [Evaluating Memory Structure in LLM Agents](https://mlsanity.com/paper/2602.11243/) (2026)
- [Neural Brain: A Neuroscience-inspired Framework for Embodied Agents](https://mlsanity.com/paper/2505.07634/) (2025)
- [DaDu-E: Rethinking the Role of Large Language Model in Robotic Computing Pipeline](https://mlsanity.com/paper/2412.01663/) (2024)
- [KEEP: A KV-Cache-Centric Memory Management System for Efficient Embodied Planning](https://mlsanity.com/paper/2602.23592/) (2026)
- [WorldLines: Benchmarking and Modeling Long-Horizon Stateful Embodied Agents](https://mlsanity.com/paper/2606.18847/) (2026)
- [Ella: Embodied Social Agents with Lifelong Memory](https://mlsanity.com/paper/2506.24019/) (2025)
- [Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation](https://mlsanity.com/paper/2603.24576/) (2026)
- [GraphPad: Inference-Time 3D Scene Graph Updates for Embodied Question Answering](https://mlsanity.com/paper/2506.01174/) (2025)
- [ANNIE: Be Careful of Your Robots](https://mlsanity.com/paper/2509.03383/) (2025)
- [Designing Memory-Augmented AR Agents for Spatiotemporal Reasoning in Personalized Task Assistance](https://mlsanity.com/paper/2508.08774/) (2025)
- [KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanning](https://mlsanity.com/paper/2602.04129/) (2026)
- [Do Proactive Agents Really Need an LLM to Decide When to Wake and What to Anchor?](https://mlsanity.com/paper/2605.30152/) (2026)
- [Enhancing Reliability in LLM-Integrated Robotic Systems: A Unified Approach to Security and Safety](https://mlsanity.com/paper/2509.02163/) (2025)
- [A3-Bench: Benchmarking Memory-Driven Scientific Reasoning via Anchor and Attractor Activation](https://mlsanity.com/paper/2601.09274/) (2026)
- [SpatialMem: Metric-Aligned Long-Horizon Video Memory for Language Grounding and QA](https://mlsanity.com/paper/2601.14895/) (2026)
- [Task-Focused Memorization for Multimodal Agents](https://mlsanity.com/paper/2605.31075/) (2026)
- [Analytic Concept-Centric Memory for Agentic Embodied Manipulation](https://mlsanity.com/paper/2606.29774/) (2026)
- [Mosaic: Runtime-Efficient Multi-Agent Embodied Planning](https://mlsanity.com/paper/2607.09603/) (2026)
- [Self-Evolving Just-In-Time Memory for Proactive Embodied Safety](https://mlsanity.com/paper/2607.16247/) (2026)

## Abstract (arXiv)

Embodied AI agents responsible for executing interconnected, long-sequence household tasks often face difficulties with in-context memory, leading to inefficiencies and errors in task execution. To address this issue, we introduce KARMA, an innovative memory system that integrates long-term and short-term memory modules, enhancing large language models (LLMs) for planning in embodied agents through memory-augmented prompting. KARMA distinguishes between long-term and short-term memory, with long-term memory capturing comprehensive 3D scene graphs as representations of the environment, while short-term memory dynamically records changes in objects' positions and states. This dual-memory structure allows agents to retrieve relevant past scene experiences, thereby improving the accuracy and efficiency of task planning. Short-term memory employs strategies for effective and adaptive memory replacement, ensuring the retention of critical information while discarding less pertinent data. Compared to state-of-the-art embodied agents enhanced with memory, our memory-augmented embodied AI agent improves success rates by 1.3x and 2.3x in Composite Tasks and Complex Tasks within the AI2-THOR simulator, respectively, and enhances task execution efficiency by 3.4x and 62.7x. Furthermore, we demonstrate that KARMA's plug-and-play capability allows for seamless deployment on real-world robotic systems, such as mobile manipulation platforms.Through this plug-and-play memory system, KARMA significantly enhances the ability of embodied agents to generate coherent and contextually appropriate plans, making the execution of complex household tasks more efficient. The experimental videos from the work can be found at https://youtu.be/4BT7fnw9ehs. Our code is available at https://github.com/WZX0Swarm0Robotics/KARMA/tree/master.