EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

Zhirui Fang; Qingchi Yu; Ziyang Chen; Longfei Li; Haoran Ma; Keru Zhou; Xinrun Xu; Samith Va; Yuxuan Hu; Peixuan Song; Qiang Du; Bin Qian; Yongkang Deng; Xin Li; Yezhen Wang; Zhe Li; Hao Luo; Shuyan Li; Ziwei Wang; Weijian Deng; Xiu Li

arXiv · 2608.29896

EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

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Abstract

A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perceive, reason, predict, act, verify, and remember within a shared orchestration process. EMERGE-Policy turns this perspective into a graph-structured agentic framework that coordinates both capability invocation and information exchange. A Main Agent retains task-level state within an active context window, while role-specific Sub Agents process perception, execution monitoring, verification, and memory consolidation in isolated contexts and return structured, task-relevant evidence. Role-specific contexts control information load by exposing only decision-relevant evidence to the Main Agent, while the functional Skill interface composes heterogeneous backends as Operational, Imagination, and Evaluation Skills. Criterion-grounded verification, textual failure diagnosis, and Branch Stack recovery provide localized correction, with token-aware external memory preserving task-relevant state. Together, their closed-loop interaction realizes the system-level policy captured by the name EMERGE-Policy. Without additional fine-tuning, we achieved outstanding performance on several public benchmark that have had a wide-reaching impact, and conducted a series of real robot experiments. These system-level results suggest that through the division of different functional sub-tasks among multiple agents and their concurrent collaboration, as well as the technical paradigm where the model is regarded as a skill and called within the framework, EMERGE-Policy can extend the robust robot policies beyond isolated runs.

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Zhirui Fang, Qingchi Yu, Ziyang Chen, Longfei Li, Haoran Ma, Keru Zhou, Xinrun Xu, Samith Va, Yuxuan Hu, Peixuan Song, Qiang Du, Bin Qian, Yongkang Deng, Xin Li, Yezhen Wang, Zhe Li, Hao Luo, Shuyan Li, Ziwei Wang, Weijian Deng, Xiu Li. 2026-09-09. EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy. https://arxiv.org/abs/2608.29896

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