RoboFoundry: System-as-Policy Evolution for Self-Learning Embodied Agents

arXiv:2609.32862 · cs.RO, cs.AI · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-26

Updated: 2026-09-26

Terminology

• Trace — 33× in this paper · explained in 2 episodes
• Benchmark — 18× in this paper · explained in 2 episodes
• Foundation Model — 15× in this paper · explained in 3 episodes
• Foundation Models — 9× in this paper · explained in 7 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Abstraction — 4× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Agentic Framework — 3× in this paper · explained in 6 episodes
• Benchmarking — 3× in this paper · explained in 4 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Verifier — 2× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Agentic System — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
• DSPy: Compiling Declarative Language Model Calls into Self-Improving Pipelines
• LLM-as-a-Verifier: A General-Purpose Verification Framework
• RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark
• RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
• Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness
• ASPIRE: Agentic /Skills Discovery for Robotics
• MemGPT: Towards LLMs as Operating Systems
• SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
• Voyager: An Open-Ended Embodied Agent with Large Language Models
• ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
• Playful Agentic Robot Learning
• Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
• LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization

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