[2604.07039] AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules

Computer Science > Robotics arXiv:2604.07039 (cs) [Submitted on 8 Apr 2026] Title:AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules Authors:Xue Qin, Simin Luan, Cong Yang, Zhijun Li View a PDF of the paper titled AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules, by Xue Qin and 3 other authors View PDF HTML (experimental) Abstract:Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or decompose functionality into loosely coordinated modules or multiple agents, often without a coherent model of identity and control authority. We argue that a robot should be modeled as a single persistent intelligent subject whose capabilities are extended through installable packages. We formalize this view as AEROS (Agent Execution Runtime Operating System), in which each robot corresponds to one persistent agent and capabilities are provided through Embodied Capability Modules (ECMs). Each ECM encapsulates executable skills, models, and tools, while execution constraints and safety guarantees are enforced by a policy-separated runtime. This separation enables modular extensibility, composable capability execution, and consistent system-level safety. We evaluate a reference implementation in PyBullet simulation with a Franka Panda 7-DOF manipulator across eight experiments covering re-plannin...