RE-0: Verified Recursive Improvement of Embodied Code-as-Policy Agents through Local On-Policy Distillation

arXiv:2609.32416 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-26

Updated: 2026-09-26

Terminology

• Verification — 18× in this paper · explained in 2 episodes
• Distillation — 15× in this paper · explained in 2 episodes
• Ablation — 13× in this paper · explained in 1 episode
• Verifier — 11× in this paper · explained in 2 episodes
• GRPO — 7× in this paper · explained in 6 episodes
• On-Policy Distillation — 7× in this paper · explained in 3 episodes
• Abstention — 3× in this paper · explained in 1 episode
• Credit assignment — 3× in this paper · explained in 3 episodes
• Generative AI — 3× in this paper · explained in 2 episodes
• Provenance — 3× in this paper · explained in 4 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Entropy Collapse — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Thinking mode — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Amortization — 1× in this paper · explained in 1 episode
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• In Conference on Robot Learning — 1× in this paper
• In International Conference on Learning Representations — 1× in this paper
• International Conference on Robotics and Automation — 1× in this paper
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• LoRA Adapters — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• EmbodiedCoder: Parameterized Embodied Mobile Manipulation via Modern Coding Model
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• MEMENTO: Memory-Guided Memetic Code-as-Policy Evolution

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