<div align="center">
<img src="docs/assets/holoagent_logo_text.png" alt="HoloAgent Logo" width="420"/>
[](https://horizonrobotics.github.io/robot_lab/holoagent/)
[](https://arxiv.org/abs/2606.23565)
[](https://huggingface.co/datasets/HorizonRobotics/fsrvln_datasets)
[](https://github.com/users/zhaoyu199201/packages/container/package/holoagent)
<!-- [](#release-status) -->
</div>
HoloAgent is a unified embodied-agent framework for general-purpose robots, integrating closed-loop execution, 3D spatial memory, and robot skills for real-world tasks.
## 🔥 News
- **[2026.12 (expected)]** HoloAgent-1 is expected by the end of the year.
- **[2026.06]** HoloAgent-0 is released. Code is under preparation and will be released soon.
- **[2025.09]** FSR-VLN is released for fast-and-slow vision-language navigation.
<!-- ## 🚀 HoloAgent-0
> ***HoloAgent-0*** connects Embodied AgentOS, 3D spatial memory, and embodied skills for real-world robot deployment.
It targets long-horizon navigation, object search, cross-robot coordination, mobile manipulation, and runtime-feedback-driven recovery. Code will be released in this repository after it is ready. -->
## ✅ Release Status
- [ ] HoloAgent-1 code update
- [ ] HoloBrain for general-purpose dexterous manipulation
- [ ] HoloMotion for whole-body mobile manipulation
- [ ] Active exploration Agent-Loop
- [ ] Vision-only autonomy for mapping, localization, navigation, and obstacle avoidance
- [x] HoloAgent-0 code update
- [x] FSR-VLN semantic mapping acceleration with OVO-Mapping replacing HOV-SG
- [x] Chatbot speech interaction upgraded with Doubao LLM
- [x] AgentOS Harness adapted to OpenClaw
- [x] Secure isolation for background processes and skill triggering via dimos-inspired Skill/Blueprint mechanisms with Harness
- [x] HoloAgent-0 project page & paper
- [x] FSR-VLN code
## 🧩 Components
- **Embodied AgentOS:** Coordinates high-level task planning, runtime feedback, and closed-loop robot execution.
- **3D Spatial Memory:** Grounds robot reasoning in physical-world spatial representations for long-horizon tasks.
- **Embodied Skills:** Connects agent decisions to executable robot navigation and manipulation skills.
- **FSR-VLN:** Provides fast-and-slow vision-language navigation with a hierarchical multi-modal scene graph.
## 🧠 Framework for Closed-Loop Robot Execution
AgentOS turns language instructions into monitored skill graphs and closes the loop across spatial retrieval, execution, memory updates, and recovery.
<img src="docs/assets/holoagent_framework.png" alt="Overview of the HoloAgent-0 framework" width="900"/>
## 🤖 Real-Robot Demonstrations
Compressed previews from real-hardware deployments. Full-resolution videos are available on the project page.
| Navigation and Dance Coordination | Long-Horizon Mobile Manipulation |
|:---:|:---:|
| <img src="docs/assets/demos/navigation_dance.gif" alt="Navigation and dance coordination" width="420"/> | <img src="docs/assets/demos/mobile_manipulation.gif" alt="Long-horizon mobile manipulation" width="420"/> |
| Coordinate navigation and humanoid motion across robots. | Decompose long-horizon manipulation into navigation, grasping, placement, and recovery. |
| Active Exploration in a New Environment | Interactive Humanoid Command Execution |
|:---:|:---:|
| <img src="docs/assets/demos/active_exploration.gif" alt="Active exploration in a new environment" width="420"/> | <img src="docs/assets/demos/humanoid_command.gif" alt="Interactive humanoid command execution" width="420"/> |
| Explore new spaces and update 3D memory online. | Follow open-ended commands with navigation and embodied actions. |
| A Day with a Robot Companion | A Day in the Life of a Robot Guide |
|:---:|:---:|
| <img src="docs/assets/demos/robot_companion.gif" alt="A day with a robot companion" width="420"/> | <img src="docs/assets/demos/robot_guide.gif" alt="A day in the life of a robot guide" width="420"/> |
| Combine language, 3D reasoning, navigation, interaction, and action. | Guide users through workspaces with spatial-memory-aware routes. |
## 🤖 FSR-VLN
[](https://horizonrobotics.github.io/robot_lab/fsr-vln)
[](https://arxiv.org/abs/2509.13733)
[](https://mp.weixin.qq.com/s/HqnBlTNqOL3Z4Kg8tLHCSw)
> ***FSR-VLN*** is the HoloAgent navigation component, combining a Hierarchical Multi-modal Scene Graph with Fast-to-Slow Navigation Reasoning for efficient long-range spatial reasoning.
<img src="docs/assets/FSR_VLN_framework.png" alt="Overall Framework" width="700"/>
## 🏗 Getting Started
For system introduction, repository layout, dependency preparation, layered build instructions, runtime configuration, and deployment notes, refer to:
- [`docs/user_guide/Intruduction.md`](docs/user_guide/Intruduction.md)
This guide is the recommended starting point for setting up the current agentic robot system repository.
## 📚 Publications & Citation
If you find our project useful, please consider citing it:
```bibtex
@misc{holoagent2026holoagent0,
title={HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory},
year={2026},
eprint={2606.23565},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2606.23565},
}
```
```bibtex
@misc{zhou2025fsrvlnfastslowreasoning,
title={FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph},
author={Xiaolin Zhou and Tingyang Xiao and Liu Liu and Yucheng Wang and Maiyue Chen and Xinrui Meng and Xinjie Wang and Wei Feng and Wei Sui and Zhizhong Su},
year={2025},
eprint={2509.13733},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2509.13733},
}
```
## 🙏 Acknowledgements
This project is built upon and inspired by several outstanding open source projects: [OVO](https://github.com/tberriel/OVO)、[HOV-SG](https://github.com/hovsg/HOV-SG)、[rerun](https://github.com/rerun-io/rerun)、[dimos](https://github.com/dimensionalOS/dimos.git)、[openclaw](https://github.com/openclaw/openclaw).
---
## ⚖️ License
This project is licensed under the [Apache License 2.0](LICENSE). See the `LICENSE` file for details.