Title: EvoAgent: Self-evolving Agent with Continual World Model for Long-Horizon Tasks
Primary area: applications to robotics, autonomy, planning
Keywords: World Model, Long-Horizon Tasks, Self-evolving

Abstract: Completing Long-Horizon (LH) tasks in open-ended worlds is an important yet difficult problem for embodied agents. Existing approaches suffer from two key challenges: (1) they heavily rely on experiences obtained from human-created data or curricula, failing to autonomously update and select multimodal experiences, and (2) they may encounter catastrophic forgetting issues when faced with new tasks, failing to autonomously update world knowledge. To solve these challenges, this paper presents {\it EvoAgent}, a self-evolving agent with a continual World Model (WM), which can autonomously complete various LH tasks across environments through self-planning, self-control, and self-reflection, without human intervention. Our proposed EvoAgent contains three modules, i.e., i) the memory-driven planner which uses an LLM along with the WM and interaction memory, to convert LH tasks into executable sub-tasks; ii) the WM-guided action controller which leverages WM to generate low-level actions and incorporates a self-verification mechanism to update multimodal experiences; iii) the experience-inspired reflector which implements a two-stage curriculum learning algorithm to select experiences for task-adaptive WM updates. Moreover, we develop a continual World Model for EvoAgent, which can autonomously update the multimodal experience pool and world knowledge through closed-loop dynamics. We conducted extensive experiments on Minecraft and Atair, compared with existing methods, EvoAgent can achieve an average success rate improvement of 105% and reduce ineffective actions by more than 6x.