Embodied agents must reason and act from experience accumulated before future questions or goals are known, yet existing memory systems often treat such experience as flat text, retrieved clips, or static graphs. We introduce MEMORA, an embodied memory framework that forms persistent participant-specific world memory from continuous egocentric video. MEMORA instantiates a formation–consolidation lifecycle: online memory editing maintains typed stores for spatial context, object identity and state, and temporal action evidence, while offline consolidation abstracts repeated experience into reusable routines, habits, and preferences. We evaluate MEMORA with MEMORA-Bench, a 45-hour egocentric-video suite for retrospective memory faithfulness and prospective memory-grounded planning. Across four open-weight answer models, MEMORA improves over no-memory, flat-text, and graph-structured memory baselines under matched perception and retrieval. The gains are largest on out-of-distribution planning, where MEMORA improves robot-grounded planning score by up to , showing that formed memory can compose new goals from remembered procedures, objects, and preferences. A physical-robot demonstration further suggests that memory formed from human egocentric video can guide participant-grounded action without in-domain robot data.