Xinxin Liu, Bingxin Xu, Wenrui Bao, Ming Li, Wentao Bao, Chen Chen, Yuzhang Shang · 2026 · arXiv
DOI: 10.48550/arXiv.2610.28589 · open-access PDF
Agentic robotics systems combine planners with robot harnesses to perform complex manipulation tasks. Recent work improves these systems through better harnesses and external memory, but relies on powerful closed-source models as planners and does not improve the planners' own capabilities. In contrast, coding agents have improved substantially by post-training the model itself. We therefore investigate whether post-training can also improve robot planners. However, applying it across robot harnesses requires accommodating different execution mechanisms, including VLA skill invocation and cont
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