EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics

arXiv:2609.27308 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-25

Code: https://github.com/EmbodiedSWE/EmbodiedSWE

Project page: https://embodiedswe.github.io

Terminology

• Benchmark — 30× in this paper · explained in 2 episodes
• Generalization — 13× in this paper · explained in 13 episodes
• Verification — 8× in this paper · explained in 2 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Failure Modes — 4× in this paper · explained in 3 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Benchmarking — 3× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Reward Hacking — 3× in this paper · explained in 8 episodes
• Steering — 3× in this paper · explained in 2 episodes
• Task Decomposition — 3× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• LLM judge — 2× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Transfer Learning — 2× in this paper · explained in 10 episodes
• World Model — 2× in this paper · explained in 7 episodes
• alpha — 2× in this paper · explained in 1 episode
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Agentic System — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Scaffolding — 1× in this paper · explained in 3 episodes
• Verifier — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Openpi Comet: Competition Solution For 2025 BEHAVIOR Challenge
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• Addressing the Orchestration Gap in Generalist Robots via Physical Agency
• RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
• Ctrl-World: A Controllable Generative World Model for Robot Manipulation
• FrontierSmith: Synthesizing Open-Ended Coding Problems at Scale
• GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• RLBench: The Robot Learning Benchmark & Learning Environment
• DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
• SimWorld Studio: Automatic Environment Generation with Evolving Coding Agent for Embodied Agent Learning
• QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation
• RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning
• RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
• Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge
• DART: Noise Injection for Robust Imitation Learning
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
• ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
• RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

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