# DAEDALUS: Bootstrapping Agent Memory from Self-Generated Tasks

arXiv: https://arxiv.org/abs/2610.08048 · HTML: https://mlsanity.com/paper/2610.08048/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Agent skill learning and evolution, one of 16 directions in LLM agents and tool use.
- Builds on 13 of its 38 references that are in the map.
- First posted on arXiv 6 Oct 2026.

## Placed in

- LLM agents and tool use / [Agent skill learning and evolution](https://mlsanity.com/agents/agent-skill-learning-and-evolution/)
- Synthetic data and self-improvement for LLMs / [Self-evolving LLM agents](https://mlsanity.com/synth/self-evolving-llm-agents/)

## Builds on (most cited first, 13 of 13)

- [Qwen3 Embedding: Advancing Text Embedding and Reranking Through Foundation Models](https://mlsanity.com/paper/2506.05176/) (2025)
- [SkillWeaver: Web Agents can Self-Improve by Discovering and Honing Skills](https://mlsanity.com/paper/2504.07079/) (2025)
- [SkillOpt: Executive Strategy for Self-Evolving Agent Skills](https://mlsanity.com/paper/2605.23904/) (2026)
- [SPICE: Self-Play In Corpus Environments Improves Reasoning](https://mlsanity.com/paper/2510.24684/) (2025)
- [Agent-World: Scaling Real-World Environment Synthesis for Evolving General Agent Intelligence](https://mlsanity.com/paper/2604.18292/) (2026)
- [Trajectory-Informed Memory Generation for Self-Improving Agent Systems](https://mlsanity.com/paper/2603.10600/) (2026)
- [AutomationBench](https://mlsanity.com/paper/2604.18934/) (2026)
- [SPADE: Self-Play in Adaptive Synthetic Executable Environments](https://mlsanity.com/paper/2608.19197/) (2026)
- [Skill Self-Play: Pushing the Frontier of LLM Capability with Co-Evolving Skills](https://mlsanity.com/paper/2607.22529/) (2026)
- [OBLIQ-Bench: Exposing Overlooked Bottlenecks in Modern Retrievers with Latent and Implicit Queries](https://mlsanity.com/paper/2605.06235/) (2026)
- [Autonomous Continual Learning for Environment Adaptation of Computer-Use Agents](https://mlsanity.com/paper/2602.10356/) (2026)
- [Artificial Intelligence Index Report 2026](https://mlsanity.com/paper/2606.15708/) (2026)
- [PREPING: Zero-Task Agent Memory Construction via Self-Practice](https://mlsanity.com/paper/2605.13880/) (2026)

## Abstract (arXiv)

LLM agents often lack the operational knowledge to act reliably in new environments, as they must discover specific tool behaviors or environment conventions on their own. Without memory of past attempts, they repeat the same mistakes across tasks, leading to more task failures and longer trajectories. To address this, agentic systems typically rely on human-written guidelines or on procedural memory built from training tasks and an oracle verifier, both of which require prior knowledge of the environment. We present DAEDALUS, a method for bootstrapping reusable agent memory from self-generated practice without existing tasks or oracle verifiers. DAEDALUS pairs two agents: an explorer that interacts with the environment to generate challenging yet solvable tasks, and a solver that attempts them. A heuristic is derived from each solver failure and accepted only after the solver repeatedly succeeds with that heuristic in context. These outcomes also provide feedback for the explorer to refine the difficulty of future tasks. Accepted heuristics are then consolidated into a memory bank for test-time use. Across AppWorld, τ2-bench, and AutomationBench, DAEDALUS improves mean success rates by up to 15.9 points and pass5 by up to 2.2x over a no-memory baseline, and is competitive with methods using training tasks, at a lower inference cost than most. We show that performance gains already emerge with a small exploration budget, and that its heuristics also benefit agents from other model families. Our ablations further reveal that solver traces provide the key information needed to derive effective heuristics, while factorizing early discoveries makes exploration more cost-efficient. Beyond memory construction, we find that the tasks generated by DAEDALUS can serve as a proxy for benchmark tasks when ranking models by performance. Code and artifacts: www.github.com/illuin-tech/daedalus.