arXiv:2610.08432v1 Announce Type: new Abstract: Improving embodied agents often focuses on optimizing the underlying model through training, while the surrounding agent harness that controls planning...
EmbodiedSkills is a unified framework that treats each skill decision as an execution proposal, checking prerequisites and verifying outcomes during long‑horizon vision‑language‑action tasks. It connects high‑level skill selection, bounded low‑level VLA execution, and post‑action verification through a fixed executable‑skill interface, enabling easy replacement of low‑level policies and recording of structured trajectories for supervision and adaptation. Instantiated with Qwen3‑VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO, the framework achieves high success rates (86.20% and 97.40% respectively) and demonstrates effective memory‑dependent task performance.
arXiv:2605. 10332v2 Announce Type: replace Abstract: Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments.
Reconstruct, Practice, Go Real (RPG) is a framework that enables autonomous improvement of robot execution systems without updating model weights. RPG identifies manipulation capabilities from offline data, creates simulation practice tasks, and uses feedback to diagnose failures, develop new symbolic skills, refine existing ones, and revise the system prompt. Across 22 manipulation tasks, RPG raises task success from 28.6% after the first practice round to 95.0% after 15 rounds, outperforming baselines and achieving perfect success on 30 physical trials after calibration.
arXiv:2610.17114v1 Announce Type: cross Abstract: Frontier large language models (LLMs) now reason about space well enough to program robots, yet the world models behind robot policies are implicit,...
The paper introduces PARTS, a real‑world subtask reinforcement learning framework that fine‑tunes a pretrained robot policy by focusing on critical bottleneck subtasks while keeping the base policy frozen. It uses agent‑generated selectors and success verifiers to provide local rewards, enabling learning even when full‑task successes are rare. Experiments on bimanual YAM and single‑arm Franka robots show that PARTS raises complete‑task success from 32% to 61% and from 50% to 95%, respectively, with only tens of minutes of real‑world RL rollouts and minimal human intervention.
arXiv:2610.18792v1 Announce Type: cross Abstract: Frontier language-model agents can now improve robots on their own: they write control code, test it, and keep what works as skills and memories for...
arXiv:2610.14224v1 Announce Type: new Abstract: LLM agents' capabilities depend not only on their underlying models but also on their execution harnesses. Recursive self-improvement (RSI) offers a pr...
Robot foundation models provide strong visuomotor control, yet their performance can degrade when object positions or task instructions change. Further improvements often require post-training on subs...
arXiv:2601. 20334v2 Announce Type: replace-cross Abstract: Robotic manipulation has increasingly adopted vision-language-action (VLA) models, which achieve strong performance but typically require task-specific demonstrations and fine-tuning, and often generalize poorly under domain shift.
RoboCoach introduces a world-model-guided coaching framework that uses imagined failures to direct demonstration requests and expert updates for robot manipulation tasks. The system, called RIDI, runs reusable skill experts within a shared action-conditioned world model and records the first failing subtask to decide which demonstrations to acquire and which adapters to refine. Experiments on simulation suites and real robots show that with only 150 additional subtask demonstrations, success rates increase dramatically, and the coached experts transfer effectively to unseen task compositions.
The paper proposes a new paradigm called Code-Only-as-Policy (COAP), treating the embodied world as a Turing machine where the robot and environment state are the tape and the policy is the code. COAP replaces traditional vision-language agents by using code to measure, track, and decide based on camera images and proprioception, enabling explicit state storage, fast execution, and extensibility across tasks. On RoboDojo’s 42 bimanual tasks, the COAP library achieved a 70.24% success rate without a model at test time.