Overview#
RPent (Recursive Physical Agent) is an open framework for building embodied agents that continuously evolve through recursive interaction with the physical world. Rather than prescribing a single foundation model, RPent provides a recursive agent framework that harnesses heterogeneous intelligence, including perception, reasoning, memory, execution, and self-evolution, into a unified physical agent. Through continuous interaction, reflection, and adaptation, RPent enables physical agents to acquire new capabilities and evolve beyond their initial design.
The name Pent is inspired by the Pentagram, whose five points symbolize the integration of multimodal intelligence into a unified embodied agent. At its center, the infinity symbol (∞) represents the endless recursive cycle of perception, reasoning, execution, and self-evolution, through which intelligence continuously expands into the physical world.
RPent is built upon three core design principles: service-oriented, standardized, and composable. RPent enables capabilities to be deployed as reusable services, connected through unified interfaces, and flexibly composed into diverse physical agents. Together, these principles allow RPent to move beyond traditional robot control frameworks and establish an agentic infrastructure for the physical world, where intelligence is not only deployed, but continuously built, expanded, and evolved.
Feature Matrix#
Agentic Planner |
Action Primitive |
Simulator |
Real World |
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Where to go next#
New to RPent? Start with Installation and then Quick start to get a LIBERO task running end-to-end.
Want to drive a specific robot or change a planner? Head to Agentic planner.
Extending RPent for your own scenarios? See System internals.