Recursive Harness Distillation across Agents for Robot Manipulation

arXiv:2609.33378 · cs.RO, cs.AI, cs.CV, cs.LG · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.AI, cs.CV, cs.LG

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Distillation — 17× in this paper · explained in 2 episodes
• Recursive Harness Distillation — 10× in this paper
• Knowledge Distillation — 4× in this paper · explained in 11 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Steering — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
• Addressing the Orchestration Gap in Generalist Robots via Physical Agency
• Distilling the Knowledge in a Neural Network
• What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• Learning What to Say to Your VLA: Mostly Harmless Vision Language Action Model Steering
• OpenVLA: An Open-Source Vision-Language-Action Model
• Evaluating Real-World Robot Manipulation Policies in Simulation
• VLS: Steering Pretrained Robot Policies via Vision-Language Models
• Learning to Teach with Student Feedback
• Octo: An Open-Source Generalist Robot Policy
• ReAct: Synergizing Reasoning and Acting in Language Models
• LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization

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