{"ID":2836800,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.00076","arxiv_id":"2512.00076","title":"Arcadia: Toward a Full-Lifecycle Framework for Embodied Lifelong Learning","abstract":"We contend that embodied learning is fundamentally a lifecycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, learning, or deployment) rarely sustain improvement or generalize beyond narrow settings. We introduce Arcadia, a closed-loop framework that operationalizes embodied lifelong learning by tightly coupling four stages: (1) Self-evolving exploration and grounding for autonomous data acquisition in physical environments, (2) Generative scene reconstruction and augmentation for realistic and extensible scene creation, (3) a Shared embodied representation architecture that unifies navigation and manipulation within a single multimodal backbone, and (4) Sim-from-real evaluation and evolution that closes the feedback loop through simulation-based adaptation. This coupling is non-decomposable: removing any stage breaks the improvement loop and reverts to one-shot training. Arcadia delivers consistent gains on navigation and manipulation benchmarks and transfers robustly to physical robots, indicating that a tightly coupled lifecycle: continuous real-world data acquisition, generative simulation update, and shared-representation learning, supports lifelong improvement and end-to-end generalization. We release standardized interfaces enabling reproducible evaluation and cross-model comparison in reusable environments, positioning Arcadia as a scalable foundation for general-purpose embodied agents.","short_abstract":"We contend that embodied learning is fundamentally a lifecycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, learning, or deployment) rarely sustain improvement or generalize beyond narrow settings. We introduce Arcadia, a closed-loop framework that o...","url_abs":"https://arxiv.org/abs/2512.00076","url_pdf":"https://arxiv.org/pdf/2512.00076v1","authors":"[\"Minghe Gao\",\"Juncheng Li\",\"Yuze Lin\",\"Xuqi Liu\",\"Jiaming Ji\",\"Xiaoran Pan\",\"Zihan Xu\",\"Xian Li\",\"Mingjie Li\",\"Wei Ji\",\"Rong Wei\",\"Rui Tang\",\"Qizhou Wang\",\"Kai Shen\",\"Jun Xiao\",\"Qi Wu\",\"Siliang Tang\",\"Yueting Zhuang\"]","published":"2025-11-25T07:26:00Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[\"LoRA\"]","has_code":false}