Updated 5 h ago · first seen 11 Sept 2026
paper_01M294G63MYNYQVDFVFZ2EGRQE
- Published
- 11 Sept 2026
- T1 · 5 h ago
- arXiv
- 2608.11350
- T1 · 5 h ago
- Category
- cs.CL
- T1 · 5 h ago
Abstract
Embodied agents are increasingly built as systems around foundation models, where performance depends not only on model weights but also on the skills, context, action interfaces, and execution harness surrounding the model. While supervised fine-tuning and reinforcement learning can adapt agents to new environments, they require additional data, rewards, and training runs; meanwhile, many train-free code-centric approaches rely on programmable robot APIs that may be unavailable in fixed-interface settings. We propose SHAPER, a self-evolving framework for train-free embodied adaptation that keeps model parameters frozen and improves the non-parametric agent system by evolving reusable skills and a context-code harness through target-environment rollouts. In SHAPER, the same frozen model can serve as both planner and optimizer, refining its external skills and context-code harness without parameter updates. We evaluate SHAPER on VLABench and ESI-Bench, covering embodied agents with different low-level action interfaces, and compare against pure execution, supervised fine-tuning, and test-time-scaling baselines such as verifier-free selection and voting. Our results suggest that skill-and-harness optimization is a practical route to self-evolving embodied agents when model training is expensive, unavailable, or undesirable.
Authors 10
Peidong Wang, Zhiming Ma, Ying Chang, Xufang Luo, Yiqun Zhang, Zihan Wang, Xiaocui Yang, Shi Feng, Yuqing Yang, Dongsheng Li
Specification
- Official page
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Arxiv announce type
- replace
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- arXiv id
- 2608.11350
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Categories
- cs.CL, cs.RO
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Primary category
- cs.CL
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
Each value shows its source, tier and observation time. Conflicting claims are kept side by side and flagged — never averaged. How AI Atlas records facts →
Provenance
Attributed facts
9
Source tiers
T19
Freshest observation
5 h ago
Conflicts
None
No models linked to this paper yet.
- Authors
- Peidong Wang, Zhiming Ma, Ying Chang
As of
Rewind the record: see this entity's attributes exactly as AI Atlas knew them on a given day.
Claim history · Abstract
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| Embodied agents are increasingly built as systems around foundation models, where performance depends not only on model weights but also on the skills, context, action interfaces, and execution harness surrounding the model. While supervised fine-tuning and reinforcement learning can adapt agents to new environments, they require additional data, rewards, and training runs; meanwhile, many train-free code-centric approaches rely on programmable robot APIs that may be unavailable in fixed-interface settings. We propose SHAPER, a self-evolving framework for train-free embodied adaptation that keeps model parameters frozen and improves the non-parametric agent system by evolving reusable skills and a context-code harness through target-environment rollouts. In SHAPER, the same frozen model can serve as both planner and optimizer, refining its external skills and context-code harness without parameter updates. We evaluate SHAPER on VLABench and ESI-Bench, covering embodied agents with different low-level action interfaces, and compare against pure execution, supervised fine-tuning, and test-time-scaling baselines such as verifier-free selection and voting. Our results suggest that skill-and-harness optimization is a practical route to self-evolving embodied agents when model training is expensive, unavailable, or undesirable. | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →
New paper: Self-Evolving Embodied Agents via Skill-Harness Evolution
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.CL | feed | T1· Official | 3 h ago | 1 |
Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.