# Self-evolving Embodied AI

arXiv: https://arxiv.org/abs/2602.04411 · HTML: https://mlsanity.com/paper/2602.04411/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 82 of its 99 references that are in the map.
- First posted on arXiv 4 Feb 2026.

## Builds on (most cited first, 30 of 82)

- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [A-MEM: Agentic Memory for LLM Agents](https://mlsanity.com/paper/2502.12110/) (2025)
- [Self-Supervised Learning from Images with a Joint-Embedding Predictive Architecture](https://mlsanity.com/paper/2301.08243/) (2023)
- [ExpeL: LLM Agents Are Experiential Learners](https://mlsanity.com/paper/2308.10144/) (2023)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [Mem0: Building Production-Ready AI Agents with Scalable Long-Term Memory](https://mlsanity.com/paper/2504.19413/) (2025)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [TTRL: Test-Time Reinforcement Learning](https://mlsanity.com/paper/2504.16084/) (2025)
- [A Survey of Embodied AI: From Simulators to Research Tasks](https://mlsanity.com/paper/2103.04918/) (2021)
- [WebRL: Training LLM Web Agents via Self-Evolving Online Curriculum Reinforcement Learning](https://mlsanity.com/paper/2411.02337/) (2024)
- [SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation](https://mlsanity.com/paper/2405.19620/) (2024)
- [Memory-R1: Enhancing Large Language Model Agents to Manage and Utilize Memories via Reinforcement Learning](https://mlsanity.com/paper/2508.19828/) (2025)
- [R-Zero: Self-Evolving Reasoning LLM from Zero Data](https://mlsanity.com/paper/2508.05004/) (2025)
- [Learning to Reason without External Rewards](https://mlsanity.com/paper/2505.19590/) (2025)
- [Boosting Continual Learning of Vision-Language Models via Mixture-of-Experts Adapters](https://mlsanity.com/paper/2403.11549/) (2024)
- [Matrix-game 2.0: An open-source real-time and streaming interactive world model](https://mlsanity.com/paper/2508.13009/) (2025)
- [A Comprehensive Survey of Self-Evolving AI Agents: A New Paradigm Bridging Foundation Models and Lifelong Agentic Systems](https://mlsanity.com/paper/2508.07407/) (2025)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Understanding World or Predicting Future? A Comprehensive Survey of World Models](https://mlsanity.com/paper/2411.14499/) (2024)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [Preparing for the Unknown: Learning a Universal Policy with Online System Identification](https://mlsanity.com/paper/1702.02453/) (2017)

## Built on by (most cited first, 2 of 2)

- [Hierarchical Codec Diffusion for Video-to-Speech Generation](https://mlsanity.com/paper/2604.15923/) (2026)
- [Mimir: Physics-Grounded LLM Agents for Long-Horizon Irrigation Control](https://mlsanity.com/paper/2610.02038/) (2026)

## Abstract (arXiv)

Embodied Artificial Intelligence (AI) is an intelligent system formed by agents and their environment through active perception, embodied cognition, and action interaction. Existing embodied AI remains confined to human-crafted setting, in which agents are trained on given memory and construct models for given tasks, enabling fixed embodiments to interact with relatively static environments. Such methods fail in in-the-wild setting characterized by variable embodiments and dynamic open environments. This paper introduces self-evolving embodied AI, a new paradigm in which agents operate based on their changing state and environment with memory self-updating, task self-switching, environment self-prediction, embodiment self-adaptation, and model self-evolution, aiming to achieve continually adaptive intelligence with autonomous evolution. Specifically, we present the definition, framework, components, and mechanisms of self-evolving embodied AI, systematically review state-of-the-art works for realized components, discuss practical applications, and point out future research directions. We believe that self-evolving embodied AI enables agents to autonomously learn and interact with environments in a human-like manner and provide a new perspective toward general artificial intelligence.