{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/roboos-a-hierarchical-embodied-framework-for","title":"RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaboration","arxiv_id":"2505.03673","date":"2025-05-06","proceeding":null,"authors":["Huajie Tan","Xiaoshuai Hao","Cheng Chi","Minglan Lin","Yaoxu Lyu","Mingyu Cao","Dong Liang","Zhuo Chen","Mengsi Lyu","Cheng Peng","Chenrui He","Yulong Ao","Yonghua Lin","Pengwei Wang","Zhongyuan Wang","Shanghang Zhang"],"abstract":"The dawn of embodied intelligence has ushered in an unprecedented imperative for resilient, cognition-enabled multi-agent collaboration across next-generation ecosystems, revolutionizing paradigms in autonomous manufacturing, adaptive service robotics, and cyber-physical production architectures. However, current robotic systems face significant limitations, such as limited cross-embodiment adaptability, inefficient task scheduling, and insufficient dynamic error correction. While End-to-end VLA models demonstrate inadequate long-horizon planning and task generalization, hierarchical VLA models suffer from a lack of cross-embodiment and multi-agent coordination capabilities. To address these challenges, we introduce RoboOS, the first open-source embodied system built on a Brain-Cerebellum hierarchical architecture, enabling a paradigm shift from single-agent to multi-agent intelligence. Specifically, RoboOS consists of three key components: (1) Embodied Brain Model (RoboBrain), a MLLM designed for global perception and high-level decision-making; (2) Cerebellum Skill Library, a modular, plug-and-play toolkit that facilitates seamless execution of multiple skills; and (3) Real-Time Shared Memory, a spatiotemporal synchronization mechanism for coordinating multi-agent states. By integrating hierarchical information flow, RoboOS bridges Embodied Brain and Cerebellum Skill Library, facilitating robust planning, scheduling, and error correction for long-horizon tasks, while ensuring efficient multi-agent collaboration through Real-Time Shared Memory. Furthermore, we enhance edge-cloud communication and cloud-based distributed inference to facilitate high-frequency interactions and enable scalable deployment. Extensive real-world experiments across various scenarios, demonstrate RoboOS's versatility in supporting heterogeneous embodiments. Project website: https://github.com/FlagOpen/RoboOS","url_abs":"https://arxiv.org/abs/2505.03673v2","url_pdf":"https://arxiv.org/pdf/2505.03673v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"roboos-a-hierarchical-embodied-framework-for","repo_url":"https://github.com/flagopen/roboos","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2505.03673","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2505.03673"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/flagopen/roboos","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"unverified":8},"by_repo_kind":{"official":{"samples":8,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"07d7bcbb2818a3b8","entry":"convert_yaml_to_json","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/utils.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"07d7bcbb2818a3b8"}},{"code_sha256_prefix":"990f6625f3b963da","entry":"get_dict_from_nested_dataclasses","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/agents/models.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/agents/models.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"990f6625f3b963da"}},{"code_sha256_prefix":"214e594b2312384d","entry":"get_variable_names","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/agents/slaver_agent.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/agents/slaver_agent.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"214e594b2312384d"}},{"code_sha256_prefix":"f2fb55a720e91465","entry":"grasp_object","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/profile/robot_tools.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/profile/robot_tools.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"f2fb55a720e91465"}},{"code_sha256_prefix":"289c3163537f7715","entry":"navigate_to_target","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/profile/robot_tools.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/profile/robot_tools.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"289c3163537f7715"}},{"code_sha256_prefix":"52af7d1ef1afcb23","entry":"parse_json_if_needed","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/agents/models.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/agents/models.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"52af7d1ef1afcb23"}},{"code_sha256_prefix":"f2ced62a42b693a4","entry":"place_to_affordance","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/profile/robot_tools.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/profile/robot_tools.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"f2ced62a42b693a4"}},{"code_sha256_prefix":"19d66aa31253eaf1","entry":"populate_template","repo":"flagopen/roboos","repo_kind":"official","path":"slaver/agents/slaver_agent.py","file_url":"https://github.com/flagopen/roboos/blob/HEAD/slaver/agents/slaver_agent.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"19d66aa31253eaf1"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}