[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-86228-en":3,"doc-seo-86228-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},86228,1374391974564,"Clementine","https://ap-avatar.wpscdn.com/avatar/14000253aa45c000a9e?x-image-process=image/resize,m_fixed,w_180,h_180&k=1779874745381141002",8,"Research & Report","A Glimpse into Long-term Physical Coexistence with Intelligent Robots","Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and convert open-ended human intent into safe physical execution. The report introduces PHILIA, a multi-robot agent using a robot gateway abstraction that unifies high-level capabilities while delegating perception, navigation, speech, and execution to robot-local runtimes. The compositional design supports plug-and-play integration and upgrades without full system redesign. The work validates the architecture on Astribot S1 robots, emphasizing human-in-the-loop confirmation, contextual intent understanding, and grounding of agent memory in physical actions.","arXiv :2607 . 11377v1 [ cs .RO] 13 Jul 2026  \nA Glimpse into Long-term Physical Coexistence with  \nIntelligent Robots  \nAstribot Team  \n[research@astribot.com](research@astribot.com)  \n[Project Page: www.astribot.com/research/Philia](Project Page: www.astribot.com/research/Philia)  \nAuthor List in Contributions  \nAbstract  \nLong-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and translate openended human intent into safe physical execution. We introduce PHILIA, a multi-robot agent built around a robot gateway abstraction. PHILIA retains the rich interaction and tool ecosystem of OpenClaw, while exposing robot-local runtimes, onboard perception, navigation, speaker, and robot policies through a unified capability interface. This design decouples low-frequency, high-semantic agent reasoning from high-frequency, low-level robot execution, enabling plugand-play integration of user interfaces, robot embodiments, and policy backends. As a result, the user experience becomes compositional: advances in user interfaces, robot embodiments, robot policies, navigation stack, or interaction algorithms can improve the overall experience without requiring a redesign of the full system. We validate the agentic architecture on Astribot S1 robots, while designing the robot gateway contract to support future heterogeneous robot platforms through a shared capability interface for observation, task execution, navigation, speech playback, status monitoring, and task cancellation. We present representative use cases in which agent memory and scene understanding are grounded in physical robot actions. These use cases span interactive, open-ended household scenarios, ranging from simple organization to more challenging long-horizon and dexterous service tasks, such as packing the backpack and lifting the garbage bag. We highlight the human–robot interaction flow, where contextual understanding of user intent and preferences, together with human-in-the-loop confirmation or adjustment during execution, is essential for the robot to provide effective assistance. We hope this report serves as an invitation to imagine, explore, and shape the future of human–robot coexistence and co-creation together.  \n1. Introduction  \nHumans have long envisioned robots that can coexist with us in everyday environments: reliable enough to share our spaces, helpful enough to assist with open-ended requests, and socially intelligible enough to participate in daily interactions. Recent advances in both generalist and specialized robot policies have substantially expanded the capabilities of robotic systems (Black et al., 2024; Brohan et al., 2022; Kim et al., 2024; Tang et al., 2025; Team et al., 2024; Zitkovich et al., 2023) . However, policy execution alone is insufficient to realize an intelligent robotic companion. Such a system must be capable of interacting through diverse interfaces, maintaining long-term memories of people and past interactions, coordinating across multiple physical embodiments, and safely translating open-ended human intentions into grounded physical actions (Ahn et al., 2022, 2024; Driess et al., 2023; Wu et al., 2023) .  \nMost deployed robotic systems are designed around isolated command execution, where users invoke individual skills through robot-specific interfaces. While effective for standalone tasks, this paradigm does not scale to long-term human–robot coexistence or multi-robot environments that require seamless integration of heterogeneous robots, policy servers, navigation systems, user interfaces, and communication channels (Hawes et al., 2017; Liu et al., 2023; Sarkar et al., 2025; Zhang et al., 2025) . Moreover, robotic capabilities span fundamentally different temporal and semantic scales: language interaction, planning, a","cbCaimwU7awSVqUw","https://ap.wps.com/l/cbCaimwU7awSVqUw","pdf",35437545,4,1,23,"English","en",105,"# Introduction\n## PHILIA overview and motivation\n## Gateway abstraction and control plane design\n## Decoupling agent reasoning from robot execution","[{\"question\":\"Why is long-term physical coexistence with intelligent robots more than just strong robot policies?\",\"answer\":\"Because the assistant must handle diverse user interfaces, maintain long-term memory, coordinate across robot embodiments, and safely translate open-ended human intent into physical actions.\"},{\"question\":\"What is PHILIA, and how does its robot gateway abstraction help?\",\"answer\":\"PHILIA is a multi-robot agent architecture that exposes a compact set of high-level capabilities through robot gateways, encapsulating platform-specific middleware and control logic while unifying interaction and execution interfaces.\"},{\"question\":\"How does PHILIA improve user experience and system extensibility over time?\",\"answer\":\"By decoupling low-frequency, high-semantic reasoning from high-frequency robot execution, the system enables plug-and-play upgrades of user interfaces, robot embodiments, policies, navigation stacks, and interaction algorithms without redesigning the full 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is long-term physical coexistence with intelligent robots more than just strong robot policies?","Question",{"text":75,"@type":76},"Because the assistant must handle diverse user interfaces, maintain long-term memory, coordinate across robot embodiments, and safely translate open-ended human intent into physical actions.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"What is PHILIA, and how does its robot gateway abstraction help?",{"text":80,"@type":76},"PHILIA is a multi-robot agent architecture that exposes a compact set of high-level capabilities through robot gateways, encapsulating platform-specific middleware and control logic while unifying interaction and execution interfaces.",{"name":82,"@type":73,"acceptedAnswer":83},"How does PHILIA improve user experience and system extensibility over time?",{"text":84,"@type":76},"By decoupling low-frequency, high-semantic reasoning from high-frequency robot execution, the system enables plug-and-play upgrades of user interfaces, 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