EvoRAM: A Self-Evolving Embodied Agent through Executable Memory Accumulation

Embodied agents are increasingly capable of solving complex robotic tasks through powerful foundation models and diverse tools, yet they often approach new problems from scratch, with successful exploration providing limited benefit to future interactions. We argue that a self-evolving embodied agent should instead continuously transform successful exploration into persistent experience and leverage accumulated experience to facilitate subsequent exploration. To this end, we introduce EvoRAM (Evolving Robotic Agent with Memory), a self-evolving embodied agent built around executable memory accumulation. EvoRAM combines a VLA loop for flexible and reactive interaction with a code loop for deliberate exploration and reproducible execution. Successful solutions discovered through exploration are physically verified and consolidated into structured executable memory, which can be directly reused, adapted, and further refined when solving subsequent problems. The two loops further complement each other: diverse VLA behaviors broaden code-based exploration, while verified code provides reliable recovery from VLA failures. Experiments in simulation and on a real-world dual-arm robot demonstrate this self-evolution process. On LIBERO, EvoRAM progressively acquires, reuses, and refines executable experience, which in turn enhances subsequent exploration, ultimately enabling it to solve 121/130 (93.1%) tasks. Real-world experiments further demonstrate that such executable experience can generalize to novel but related objects, while Code–VLA collaboration broadens the exploration space and accelerates the accumulation of executable memory. Remarkably, after acquiring the relevant memory, EvoRAM can autonomously calibrate its camera intrinsics and camera–robot extrinsics, enabling sustained exploration in the physical world despite calibration degradation. These results demonstrate a self-evolution loop in which exploration continuously expands executable memory, while accumulated memory in turn strengthens subsequent exploration.