Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents

Excerpt

arXiv:2610.02204v1 Announce Type: cross Abstract: Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model weights. RPG identifies manipulation capabilities in an offline dataset and constructs related practice tasks in simulation. During p