Retriever: A Framework for Asynchronous, Closed-Loop Robot Agents
ZeYanjie · x · 2026-08-24
Linfeng Zhao introduced Retriever, a programming framework designed for building asynchronous, hierarchical, and closed-loop robot agents. It addresses the challenge of integrating robot modules (planners, policies, hardware) that operate on different clocks and require real-time feedback.
Key Features:
- Temporal Computation Graph: Represents agents as a graph where stateful Flows are composable units, with Clocks defining execution timing and Sync policies governing history consumption.
- Asynchronous Execution: Ensures stable temporal semantics even when executing across different backends, facilitating debugging and analysis.
- Full Stack: Includes a continuous-time formulation, Python programming model, runtime, and a real-world robot pipeline (Retriever-0).
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