APEX-EM: Non-Parametric Online Learning for Autonomous Agents via Structured Procedural-Episodic Experience Replay
arXiv:2603.29093v1 Announce Type: new Abstract: LLM-based autonomous agents lack persistent procedural memory: they re-derive solutions from scratch even when structurally identical tasks have been solved before. We present \textbf{APEX-EM}, a non-parametric online learning framework that accumulates, retrieves, and reuses structured procedural plans without modifying model weights. APEX-EM introduces: (1) a \emph{structured experience representation} encoding the full procedural-episodic trace of each execution -- planning steps, artifacts, iteration history with error analysis, and quality scores; (2) a \emph{Plan-Retrieve-Generate-Iterate-Ingest} (PRGII) workflow with Task Verifiers providing multi-dimensional reward signals; and (3) a \emph{dual-outcome Experience Memory} with hybrid r
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Abstract:LLM-based autonomous agents lack persistent procedural memory: they re-derive solutions from scratch even when structurally identical tasks have been solved before. We present APEX-EM, a non-parametric online learning framework that accumulates, retrieves, and reuses structured procedural plans without modifying model weights. APEX-EM introduces: (1) a structured experience representation encoding the full procedural-episodic trace of each execution -- planning steps, artifacts, iteration history with error analysis, and quality scores; (2) a Plan-Retrieve-Generate-Iterate-Ingest (PRGII) workflow with Task Verifiers providing multi-dimensional reward signals; and (3) a dual-outcome Experience Memory with hybrid retrieval combining semantic search, structural signature matching, and plan DAG traversal -- enabling cross-domain transfer between tasks sharing no lexical overlap but analogous operational structure. Successful experiences serve as positive in-context examples; failures as negative examples with structured error annotations. We evaluate on BigCodeBench, KGQAGen-10k, and Humanity's Last Exam using Claude Sonnet 4.5 and Opus 4.5. On KGQAGen-10k, APEX-EM achieves 89.6% accuracy versus 41.3% without memory (+48.3pp), surpassing the oracle-retrieval upper bound (84.9%). On BigCodeBench, it reaches 83.3% SR from a 53.9% baseline (+29.4pp), exceeding MemRL's +11.0pp gain under comparable frozen-backbone conditions (noting backbone differences controlled for in our analysis). On HLE, entity graph retrieval reaches 48.0% from 25.2% (+22.8pp). Ablations show component value is task-dependent: rich judge feedback is negligible for code generation but critical for structured queries (+10.3pp), while binary-signal iteration partially compensates for weaker feedback.
Comments: 17 pages, 13 figures
Subjects:
Computation and Language (cs.CL); Artificial Intelligence (cs.AI); Information Retrieval (cs.IR)
Cite as: arXiv:2603.29093 [cs.CL]
(or arXiv:2603.29093v2 [cs.CL] for this version)
https://doi.org/10.48550/arXiv.2603.29093
arXiv-issued DOI via DataCite
Submission history
From: Pratyay Banerjee [view email] [v1] Tue, 31 Mar 2026 00:24:56 UTC (1,096 KB) [v2] Thu, 2 Apr 2026 21:09:27 UTC (1,096 KB)
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