PEPA：具有个性的持续自主体
PEPA: a Persistently Autonomous Embodied Agent with Personalities
AI总结：
本文提出PEPA框架，通过三层认知架构实现持续自主，利用个性特质自主生成目标并维持行为演化，实验证明其在动态环境中稳定运行。
摘要：
生物体通过内部生成的目标和自我维持的行为组织实现持久自主，但现有具身代理仍依赖外部预设任务。本文提出个性特质作为内在组织原则，通过三层认知架构实现自主目标生成与行为演化。实验证明，PEPA在多层办公楼中自主处理用户请求与个性驱动动机，展现稳定的行为特性。
英文摘要：
Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally scripted objectives. This dependence on predefined task specifications limits their capacity for long-term deployment in dynamic, unstructured environments where continuous human intervention is impractical. We propose that personality traits provide an intrinsic organizational principle for achieving persistent autonomy. Analogous to genotypic biases shaping biological behavioral tendencies, personalities enable agents to autonomously generate goals and sustain behavioral evolution without external supervision. To realize this, we develop PEPA, a three-layer cognitive architecture that operates through three interacting systems: Sys3 autonomously synthesizes personality-aligned goals and refines them via episodic memory and daily self-reflection; Sys2 performs deliberative reasoning to translate goals into executable action plans; Sys1 grounds the agent in sensorimotor interaction, executing actions and recording experiences. We validate the framework through real-world deployment on a quadruped robot in a multi-floor office building. Operating without reliance on fixed task specifications, the robot autonomously arbitrates between user requests and personality-driven motivations, navigating elevators and exploring environments accordingly. Quantitative analysis across five distinct personality prototypes demonstrates stable, trait-aligned behaviors. The results confirm that personality-driven cognitive architectures enable sustained autonomous operation characteristic of persistent embodied systems. Code and demo videos are available at https://sites.google.com/view/pepa-persistent/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
