Playful Agentic Robot Learning

Junyi Zhang; Jiaxin Ge; Hanjun Yoo; Letian Fu; Zihan Yang; Yaowei Liu; Raj Saravanan; Shaofeng Yin; Justin Yu; Dantong Niu; Zirui Wang; Roei Herzig; Ken Goldberg; Yutong Bai; David M. Chan; Ion Stoica; Angjoo Kanazawa; Jiahui Lei; Haiwen Feng; Trevor Darrell

arXiv · 2606.19419

Playful Agentic Robot Learning

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Abstract

Current agentic robot systems can write executable Code-as-Policy programs, observe feedback, and revise behavior across multiple attempts, but they remain largely task-driven: reusable skills are acquired only after explicit instructions. We study Playful Agentic Robot Learning, where an embodied coding agent uses self-directed play as a continual skill-learning stage before downstream tasks arrive. We introduce RATs, Robotics Agent Teams designed for play-time skill acquisition. During play, RATs proposes novel yet learnable exploratory tasks, plans and executes robot-code policies, verifies intermediate progress, diagnoses failures, retries with dense, step-level feedback, and distills successful executions into a persistent code skill library. At test time, the agent reuses relevant skills from this frozen library to help solve new tasks. Experiments in LIBERO-PRO and MolmoSpaces show that play-learned skills improve held-out downstream tasks over no-play and random-play baselines, with 20.6 and 17.0 percentage-point gains over CaP-Agent0 on LIBERO-PRO and MolmoSpaces, respectively. Moreover, the learned skills can be plugged into other inference-time Code-as-Policy agents by simply retrieving them into the context, improving RoboSuite and real-world transfer by 8.9 and 8.8 points, respectively, without finetuning the underlying model.

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Junyi Zhang, Jiaxin Ge, Hanjun Yoo, Letian Fu, Zihan Yang, Yaowei Liu, Raj Saravanan, Shaofeng Yin, Justin Yu, Dantong Niu, Zirui Wang, Roei Herzig, Ken Goldberg, Yutong Bai, David M. Chan, Ion Stoica, Angjoo Kanazawa, Jiahui Lei, Haiwen Feng, Trevor Darrell. 2026-06-17. Playful Agentic Robot Learning. https://arxiv.org/abs/2606.19419

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