# InstAgent: A Recursively Self-Improving Agent Operating System for Heterogeneous Robot Collaboration

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oq4yad6250h4p5cd805b2mhdn
- Original: https://arxiv.org/abs/2610.23098

## Summary

InstAgent proposes a recursively self-improving (RSI) agent operating system that uses agentic behavior trees (BTs) to explicitly model capability assignment, inter-robot dependencies, and handoff checks for heterogeneous robots, and updates collaboration programs from execution feedback while preserving successful revisions for reuse in later tasks. Experiments on 20 real-world multi-robot tasks with 3 high-level models show consistent gains in task success rate, first-attempt completion rate, and execution efficiency.