PhysEvo: Astra Can Act, Let It

arXiv:2610.08995 · cs.RO, cs.AI · Submitted 2026-10-06 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-06

Updated: 2026-10-06

Code: https://github.com/anonymous-report-421/GPT-as-Policy

Terminology

• Frozen model — 8× in this paper · explained in 3 episodes
• Trace — 7× in this paper · explained in 2 episodes
• Adaptation — 6× in this paper · explained in 1 episode
• Aggregation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Diagnostic Tools — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Agentic System — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• GEPA: Reflective Prompt Evolution Can Outperform Reinforcement Learning
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• Show-Harness: Just a VLM Agent Can Play Robots
• RHO: Your Coding Agent is Secretly a Roboticist
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• Transferring the Intelligence of VLMs to Robotic Control
• Automated Design of Agentic Systems
• RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• EmbodiSkill: Skill-Aware Reflection for Self-Evolving Embodied Agents
• OpenVLA: An Open-Source Vision-Language-Action Model
• Recursive Harness Self-Improvement
• Meta-Harness: End-to-End Optimization of Model Harnesses
• Code as Policies: Language Model Programs for Embodied Control
• Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness
• PhyAgentOS: A Self-Evolving Operating System for Embodied Agents with Decoupled Cognitive Planning and Physical Execution
• REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
• AutoHarness: improving LLM agents by automatically synthesizing a code harness
• ASPIRE: Agentic /Skills Discovery for Robotics

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