Fewer Tokens, Better Action: GPT-6 Astra Robot Agents with 14% Higher Success Rate but 65% Fewer Tokens

arXiv:2610.01939 · cs.CV, cs.RO · Submitted 2026-10-01 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-10-01

Updated: 2026-10-01

Code: https://github.com/DAGroup-PKU/PyRUA-Lean

Project page: https://dagroup-pku.github.io/PyRUA-Lean

Terminology

Benchmark — 22× in this paper · explained in 2 episodes
Ablation — 5× in this paper · explained in 1 episode
Trace — 4× in this paper · explained in 2 episodes
Benchmarking — 3× in this paper · explained in 3 episodes
Conference on Robot Learning — 3× in this paper
Affordance — 2× in this paper · explained in 1 episode
Generalization — 2× in this paper · explained in 13 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Abstraction — 1× in this paper · explained in 1 episode
Action Primitives — 1× in this paper · explained in 1 episode
Adaptability — 1× in this paper · explained in 1 episode
Adaptation — 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
In International Conference on Learning Representations — 1× in this paper
In International Conference on Machine Learning — 1× in this paper
International Conference on Robotics and Automation — 1× in this paper
Motion Primitives — 1× in this paper · explained in 2 episodes
Steering — 1× in this paper · explained in 2 episodes
Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

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