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arXiv · 2610.10498

EmbodiedRSI: Active Continual Robot Learning Through Hypothesis-Guided Co-Evolution

Python Song·Zhixuan Liang·Kelsey Fu·Mengdi Wang·Junfeng Yang·Shilong Liu
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Abstract

Robot foundation models provide strong visuomotor control, yet their performance can degrade when object positions or task instructions change. Further improvements often require post-training on substantial robot data, which can be costly to collect through methods such as teleoperation. Agentic harnesses can adapt around the model, but current self-evolving harnesses use robot trials inefficiently when deciding which code and skill changes to pursue. We introduce EmbodiedRSI, a self-evolving agentic harness that autonomously decides where to explore next and turns the resulting physical interaction into improved code and skills. EmbodiedRSI realizes this through a Fast-Slow Dual-System Architecture, in which competing code and skill hypotheses are maintained in a Hypothesis Graph. Value-of-Information Experiment Selection chooses physical experiments that can distinguish these hypotheses. Their outcomes guide Code-Skill Co-Evolution. The Slow System builds Hierarchical Memory, and Reward-Grounded Memory Learning selects effective memory according to their value for later Fast-System improvement. On RoboCasa365, EmbodiedRSI reaches 77.0% overall success and 71.3% on Composite-Unseen, compared with 40.1% for the best baseline. EmbodiedRSI also reaches 86.8% overall success on LIBERO-Pro. Beyond benchmark performance, EmbodiedRSI transfers zero-shot to real-world robot, achieving 71.3% overall success across multiple challenging tasks.

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Python Song, Zhixuan Liang, Kelsey Fu, Mengdi Wang, Junfeng Yang, Shilong Liu. 2026-10-07. EmbodiedRSI: Active Continual Robot Learning Through Hypothesis-Guided Co-Evolution. https://arxiv.org/abs/2610.10498

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