RoboHarn-Evo: Evolving Hierarchical Physical Knowledge for Self-Improving Robotic Manipulation

arXiv:2609.37583 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-30

Terminology

• Verification — 31× in this paper · explained in 2 episodes
• Grounding — 27× in this paper · explained in 3 episodes
• Core — 10× in this paper · explained in 2 episodes
• Hierarchical Physical Knowledge — 9× in this paper
• Benchmark — 8× in this paper · explained in 2 episodes
• Verifier — 8× in this paper · explained in 2 episodes
• Task Planning — 7× in this paper · explained in 2 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Compositional Generalization — 2× in this paper · explained in 4 episodes
• LLM-as-a-Judge — 2× in this paper · explained in 3 episodes
• Action-Feedback Knowledge — 1× in this paper
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Agent Skills — 1× in this paper · explained in 1 episode
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Continual Learning — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Self-Evolving Agents — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
• RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
• Show-Harness: Just a VLM Agent Can Play Robots
• What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents
• RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• XSkill: Continual Learning from Experience and Skills in Multimodal Agents
• EmbodiSkill: Skill-Aware Reflection for Self-Evolving Embodied Agents
• Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models
• PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
• RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
• Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection
• ASPIRE: Agentic /Skills Discovery for Robotics
• SkillX: Automatically Constructing Skill Knowledge Bases for Agents
• Self-Evolving Embodied Agents via Skill-Harness Evolution
• SkillRL: Evolving Agents via Recursive Skill-Augmented Reinforcement Learning
• ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
• Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation
• SkillPyramid: A Hierarchical Skill Consolidation Framework for Self-Evolving Agents

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