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Awesome Agentic Robots

Official companion repository for
Towards Agentic Robots: Model, Data, Environment, and Harness

Overview · Browse by domain · Papers · Contributing · Cite

_{From task-specific policies to VLA models, world models, and agentic robot systems.}

Overview

Agentic robots use foundation models to guide robot execution and learning. We organize this work around Model, Data, Environment, and Harness, connecting model decisions, data pipelines, environments, and the orchestration of robot capabilities.

_{Four functional domains and seventeen non-exclusive categories organize the literature on agentic robots.}

Taxonomy

Domain	Categories
Model	Training · Perception · Planning · Robot Control · Adaptation
Data	Collection · Annotation · Refinement
Environment	Reconstruction · Task Generation · Benchmarking
Harness	Orchestration · Memory · Monitoring and Recovery · Skills · Infrastructure · Layered Systems

Papers

Model

Training · Perception · Planning · Robot Control · Adaptation

Model overview figure

Model · Training

Paper Title	Code
Eureka: Human-Level Reward Design via Coding Large Language Models
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion	—
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies	—
EvoNav: Evolutionary Reward Function Design for Robot Navigation with Large Language Models	—
Nautilus: From One Prompt to Plug-and-Play Robot Learning	—
From Demonstrations to Rewards: Test-Time Prompt Optimization for VLM Reward Models
Reward Design Agent for Reinforcement Learning	—
HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning
ReCoVLA: VLM-Guided Reward Compilation for Failure Recovery in Vision-Language-Action Policies	—
ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations
Causal Reward World Models: Zero-shot Reward Design for Automated Skill Generation	—
You Don't Need To Stay in The Loop: An Agentic Robotics Loop for Robot-Policy Improvement	—
EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents
FluxVLA Engine: A One-Stop VLA Engineering Platform for Embodied Intelligence

Model · Perception

Paper Title	Code
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
FARE: Fast-Slow Agentic Robotic Exploration	—
A Modern System Recipe for Situated Embodied Human-Robot Conversation with Real-Time Multimodal LLMs and Tool-Calling	—
Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control
OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
GoalVLM: VLM-driven Object Goal Navigation for Multi-Agent System	—
Robot Planning and Situation Handling with Active Perception
SCOPE: Real-Time Natural Language Camera Agent at the Edge
A Conversational Framework for Human-Robot Collaborative Manipulation with Distributed Generative AI models
AgenticNav: Zero-Shot Vision-and-Language Navigation as a Tool-Calling Harness	—
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications
ABot-N1: Toward a General Visual Language Navigation Foundation Model
MG-VQA: Manipulation Grounded Visual Question Answering with VLMs
HINT: Human-Intent Inception for Long-Horizon Robot Manipulation
AnchorVLN: Geometry-Anchored Vision-Language Grounding Reasoning for Open-Vocabulary Navigation
INSPECT: Learning Robot View Selection from Assistant Use
CoRelNav: Collaborative Relational Navigation for Multi-Robot Spatially Constrained Semantic Navigation	—
Robo-Harness K1: Harnessing Robot-Use Agents via Perception Augmentation

Model · Planning

Paper Title	Code
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning	—
RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models	—
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer	—
EmboTeam: Grounding LLM Reasoning into Reactive Behavior Trees via PDDL for Embodied Multi-Robot Collaboration	—
DV-VLN: Dual Verification for Reliable LLM-Based Vision-and-Language Navigation
Agentic AI for Robot Control: Flexible but still Fragile	—
AgentRob: From Virtual Forum Agents to Hijacked Physical Robots
Learning from Trials and Errors: Reflective Test-Time Planning for Embodied LLMs
Hierarchical LLM-Based Multi-Agent Framework with Prompt Optimization for Multi-Robot Task Planning	—
From Language to Action: Can LLM-Based Agents Be Used for Embodied Robot Cognition?
IMR-LLM: Industrial Multi-Robot Task Planning and Program Generation using Large Language Models	—
Self-Evolutionary Replanning for Failure-Aware Motion Planning	—
Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization	—
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation	—
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
WCM: World-Cognition Model for Generalizable Human-Robot Interaction	—
STARS: extending interactive task learning with large language models
MaCoPlanner: LLM-Assisted Manual-Compiled Task Planning with Proactive Safety Verification for Robotic Industrial Panel Operation
Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation	—
Adaptive Task Planning for Long-Horizon Robotic Manipulation Based on Video Priors and Dynamic Scene Graphs	—
A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution	—
Safe Task Planning with Long-Term Graph Memory for Embodied Agents
Memory as Plans: World-Action Modeling with Memory-Grounded Planning	—
Bridging Thought and Action: Taming Long-Horizon Instability in Open-Source LLM Agents with a MetaTool-Enhanced ROS Framework	—
GAVEL: Graph World Models for Verified and Efficient Long-Horizon LLM Task Planning	—
ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulation
Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering
CoRelNav: Collaborative Relational Navigation for Multi-Robot Spatially Constrained Semantic Navigation	—
NavProbe: Evidence-Grounded Reasoning with Active Memory Retrieval for Zero-Shot Navigation

Model · Robot Control

Paper Title	Code
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Demonstration-Free Robotic Control via LLM Agents
CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation	—
SCOPE: Real-Time Natural Language Camera Agent at the Edge
Learning What to Say to Your VLA: Mostly Harmless Vision Language Action Model Steering	—
ABot-N1: Toward a General Visual Language Navigation Foundation Model
VIA: Visual Interface Agent for Robot Control
MEMENTO: Memory-Guided Memetic Code-as-Policy Evolution
ETA: A New Agentic Paradigm for Embodied Tasks
Evolve Vision-Language-Action Model into an Agent with On-the-fly Tool-use	—
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation	—
Show-Harness: Just a VLM Agent Can Play Robots
ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph	—
Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning	—
In-Context Robot Learning with VLM Agents
KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation	—
Transferring the Intelligence of VLMs to Robotic Control
Watch, Recall, Act: Always-On Robots in Concurrent Embodied Streams	—
Controlling Collectives of AI Agents in Reasoning Space with Spatial Transformers	—
Robo-Harness K1: Harnessing Robot-Use Agents via Perception Augmentation
World Action Agent: Harnessing VLMs for Robot Manipulation via World Action Rehearsal	—

Model · Adaptation

Paper Title	Code
Policy Adaptation from Foundation Model Feedback
TidyBot: Personalized Robot Assistance with Large Language Models
RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation	—
Interactive Robot Learning from Verbal Correction
Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
Learning to Learn Faster from Human Feedback with Language Model Predictive Control	—
Yell At Your Robot: Improving On-the-Fly from Language Corrections
Self-Improving Embodied Foundation Models
π*₀.₆: A VLA That Learns From Experience	—
VLAW: Iterative Co-Improvement of Vision-Language-Action Policy and World Model
PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
Learning from Trials and Errors: Reflective Test-Time Planning for Embodied LLMs
When to Act, Ask, or Learn: Uncertainty-Aware Policy Steering
Self-Evolutionary Replanning for Failure-Aware Motion Planning	—
CMMR-VLN: Vision-and-Language Navigation via Continual Multimodal Memory Retrieval	—
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies	—
Visual Verification Enables Inference-time Steering and Autonomous Policy Improvement
Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations	—
EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents
In-Context Robot Learning with VLM Agents
Transferring the Intelligence of VLMs to Robotic Control

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Data

Collection · Annotation · Refinement

Data overview figure

Data · Collection

Paper Title	Code
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Autonomous Improvement of Instruction Following Skills via Foundation Models
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos	—
RoboFactory: Exploring Embodied Agent Collaboration with Compositional Constraints
HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning
RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning	—
When to Act, Ask, or Learn: Uncertainty-Aware Policy Steering
Tether: Autonomous Functional Play with Correspondence-Driven Trajectory Warping
V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors	—
RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Zero2Skill: Bootstrapping Robot Skills through Autonomous Data Collection, Training, and Deployment
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation	—
RoboTalk: Learning Multi-Robot Communication and Coordination from Multimodal Demonstrations	—
Find Something You Can't Do: Agentic Real-World Reinforcement Learning for Self-Improving VLA Models	—
EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation	—

Data · Annotation

Paper Title	Code
SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities	—
Robotic Control via Embodied Chain-of-Thought Reasoning
Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models
RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics
From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation
Thinking in Text and Images: Interleaved Vision–Language Reasoning Traces for Long-Horizon Robot Manipulation	—
SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale
AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation	—
Exploratory, Communicative, and Deployable: Vision-Driven Embodied Agents for Open-World Mobile Manipulation
Exemplar2VQA: A Scalable Exemplar-Driven Visual Question Answering Generation Framework via Multi-Agent Coding
EgoTools: Towards Tool-Centric Reasoning in Real-World Egocentric Videos
EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI
A4-Agent: An Agentic Framework for Zero-Shot Affordance Reasoning
DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning
Affordance Agent Harness: Verification-Gated Skill Orchestration
Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation
ROVER: Recursive Reasoning Over Videos with Vision-Language Models for Embodied Tasks
Zero2Skill: Bootstrapping Robot Skills through Autonomous Data Collection, Training, and Deployment
ARS: Agentic Reward System for Robot Learning	—

Data · Refinement

Paper Title	Code
Learning from Trials and Errors: Reflective Test-Time Planning for Embodied LLMs
RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations
Zero2Skill: Bootstrapping Robot Skills through Autonomous Data Collection, Training, and Deployment
ARS: Agentic Reward System for Robot Learning	—

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Environment

Reconstruction · Task Generation · Benchmarking

Environment overview figure

Environment · Reconstruction

Paper Title	Code
Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Model
Articraft: An Agentic System for Scalable Articulated 3D Asset Generation
DiagGen: Agentic Generation of Deformable Assets with Sim-based Diagnostics for Robotic Simulation
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos	—
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes
SAGE: Scalable Agentic 3D Scene Generation for Embodied AI
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains	—
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation	—
SimWorld Studio: Automatic Environment Generation with Evolving Coding Agent for Embodied Agent Learning	—
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI
GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning	—
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation	—
RAPID: Robot Agentic Programming from Demonstrations	—
CoDimRecon: Agentic Reconstruction of Sim-Ready 3D Scenes with Deformable Curves, Surfaces, and Volumes	—
DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library	—
LEGO-Anything: Coding Agents for 3D Scene Reconstruction	—
Code4Scene: Benchmarking Coding Agents for Constructing and Editing 3D Scenes	—
Awomo-SimDataEngine: Agentic Simulation-Ready World Generation	—
ChronoAgentic: A Code-based Multi-Agent World Simulator for Physically Grounded Simulation Construction	—
Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents
4DCodeBench: Benchmarking Agents on Inverse Graphics of Dynamic Scenes
Video2World: Benchmarking Coding Agents for Interactive World Modeling from Embodied Videos

Environment · Task Generation

Paper Title	Code
GenSim: Generating Robotic Simulation Tasks via Large Language Models
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos	—
PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains	—
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
FATE: Closed-Loop Feasibility-Aware Task Generation with Active Repair for Physically Grounded Robotic Curricula	—
HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
SimWorld Studio: Automatic Environment Generation with Evolving Coding Agent for Embodied Agent Learning	—
Playful Agentic Robot Learning
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation	—
Scene2Demo: Self-Evolving Embodied Data Generation via Object-Action Graph	—
GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction	—
EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation	—

Environment · Benchmarking

Paper Title	Code
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks
EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents
LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization	—
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation	—
KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning
RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark
Enabling Extensible Embodied Capabilities with Tools	—
Zero-Shot Mission-Level Evaluation for Aerial MLLM Agents
Compiling and Benchmarking Task-State Horizons for Embodied Agents	—
EvoNav-Bench: Benchmarking Lifelong Navigation in Evolving Environments	—
ReactHuman: A Physics-Grounded Benchmark for Human-Like Reactive Decision-Making in Embodied Multimodal LLMs	—
VABench: Measuring Embodied Spatial Intelligence through Visual Demonstrations, Active Perception, and Metric Control	—
ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulation
EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics
Are Frontier VLM Agents Ready to Be Robot Generalists? An Empirical Study with the Embodied Agent Arena
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
ManiGuard: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation	—
MEMOBench: A Process Level Memory Benchmark for Robotic Manipulation
RobotWorld: Benchmarking Multimodal Agents for Robot Use Across Diverse Tasks and Embodiments	—
ASPIRE: Agentic /Skills Discovery for Robotics
Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning	—
Towards Embodied Air-Ground Cooperative Object Search: Benchmark, Dataset and Agentic Method	—
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains	—
A2Eval: Agentic and Automated Evaluation for Embodied Brain	—
ManipEvalAgent: Promptable and Efficient Evaluation Framework for Robotic Manipulation Policies	—
Embodied-BenchForge: A Closed-Loop Agentic Workflow for Embodied Benchmark Construction	—

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Harness

Orchestration · Memory · Monitoring and Recovery · Skills · Infrastructure · Layered Systems

Harness overview figure

Harness · Orchestration

Paper Title	Code
VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
MistyPilot: Enabling Social-Robot Control through Multi-Agent LLM Skill Orchestration
ABot-AgentOS: A General Robotic Agent OS with Lifelong Multi-modal Memory	—
AeroWeaver: An Embodied-Agent Harness for Weaving Aerial Skills into Distributed, Adaptive Swarm Execution
M2HRI: An LLM-Driven Multimodal Multi-Agent Framework for Personalized Human-Robot Interaction
EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agents	—
Addressing the Orchestration Gap in Generalist Robots via Physical Agency
Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness	—
Enabling Extensible Embodied Capabilities with Tools	—
ROSClaw: An OpenClaw ROS 2 Framework for Agentic Robot Control and Interaction	—
Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs
EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents
Towards the Harness of Embodied Agents
RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning	—
RoboRouter: Training-Free Policy Routing for Robotic Manipulation	—
RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
RoboTalk: Learning Multi-Robot Communication and Coordination from Multimodal Demonstrations	—
Towards Embodied Air-Ground Cooperative Object Search: Benchmark, Dataset and Agentic Method	—
HarnessWAM: Bridging Prediction and Deliberation in World Action Models	—
Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation
Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models	—
Retriever: Composing the Perception-Reasoning-Action Loop for Long-Horizon Manipulation

Harness · Memory

Paper Title	Code
HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation	—
Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction	—
HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control
MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning
Watch, Recall, Act: Always-On Robots in Concurrent Embodied Streams	—
MessyMem: Learning-from-Doing Memory for Mobile Manipulation	—
Skills in Weights, Memory in Code: Hybrid Learning for Memory-Dependent Robot Manipulation	—
Mimir: A Neuro-Symbolic Memory System with Dynamic Grounding for Embodied Agents in Interactive Environments	—
RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics
OVAL: Open-Vocabulary Augmented Memory Model for Lifelong Object Goal Navigation	—
Bridging Thought and Action: Taming Long-Horizon Instability in Open-Source LLM Agents with a MetaTool-Enhanced ROS Framework	—
Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization	—
ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulation
Safe Task Planning with Long-Term Graph Memory for Embodied Agents	—
CoRelNav: Collaborative Relational Navigation for Multi-Robot Spatially Constrained Semantic Navigation	—
World Action Agent: Harnessing VLMs for Robot Manipulation via World Action Rehearsal	—
Robo-Harness K1: Harnessing Robot-Use Agents via Perception Augmentation
Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation	—
Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering
NavProbe: Evidence-Grounded Reasoning with Active Memory Retrieval for Zero-Shot Navigation
EmbodiedLGR: Integrating Lightweight Graph Representation and Retrieval for Semantic-Spatial Memory in Robotic Agents	—
CMMR-VLN: Vision-and-Language Navigation via Continual Multimodal Memory Retrieval	—
HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory	—
Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory	—
2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation	—
MeCo: Enhancing LLM-Empowered Multi-Robot Collaboration via Similar Task Memoization
APEX: A Decoupled Memory-based Explorer for Asynchronous Aerial Object Goal Navigation

Harness · Monitoring and Recovery

Paper Title	Code
Coding Agents with Harness for Safe Robot Control	—
DV-VLN: Dual Verification for Reliable LLM-Based Vision-and-Language Navigation
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment	—
Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection	—
Mission-Level Runtime Assurance for LLM-Assisted ISR Swarms over a Verification-Aware Fabric	—
OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency	—
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
Closing the Loop in Teleoperation: Episode-Level Data Quality Assessment and Feedback for High-Quality Demonstration Collection	—
Agentic AI for Robot Control: Flexible but still Fragile	—
Diagnosing Semantic Handoff Failures in Agent-Orchestrated Vision-Language-Action Skill Composition	—
Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection	—
A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation	—
WCM: World-Cognition Model for Generalizable Human-Robot Interaction	—
Stop Wandering: Efficient Vision-Language Navigation via Metacognitive Reasoning	—
ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning	—
HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness	—
VLA-Corrector: Stage-Aware Observable State Understanding for Prompt-Based Closed-Loop Recovery of Vision-Language-Action Policies	—
FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation	—
ReCoVLA: VLM-Guided Reward Compilation for Failure Recovery in Vision-Language-Action Policies	—
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
Self-Evolutionary Replanning for Failure-Aware Motion Planning	—
Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis	—
PhyAgentOS: A Self-Evolving Operating System for Embodied Agents with Decoupled Cognitive Planning and Physical Execution
From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation	—
LIBERO-RECOVER: Beyond Task Success Towards Failure Recovery in Robotic Manipulation Models
PEACE: A Planner-Executor Agent with Constraint Enforcement for UAVs
LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratories
A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring	—
SPINE: Bridging the Cyber-Physical Gap with Agentic AI	—

Harness · Skills

Paper Title	Code
Code as Policies: Language Model Programs for Embodied Control
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
Voyager: An Open-Ended Embodied Agent with Large Language Models
Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis	—
RoboCoder: Robotic Learning from Basic Skills to General Tasks with Large Language Models	—
Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models	—
Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation
Agentic Skill Discovery
Act-Observe-Rewrite: Multimodal Coding Agents as In-Context Policy Learners for Robot Manipulation	—
IMR-LLM: Industrial Multi-Robot Task Planning and Program Generation using Large Language Models	—
Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation	—
RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation	—
VASO: Formally Verifiable Self-Evolving Skills for Physical AI Agents	—
RHO: Your Coding Agent is Secretly a Roboticist
Playful Agentic Robot Learning
ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
ASPIRE: Agentic /Skills Discovery for Robotics
MEMENTO: Memory-Guided Memetic Code-as-Policy Evolution
A Few Words Go a Long Way: Language Guided Robot Policy Synthesis
You Don't Need To Stay in The Loop: An Agentic Robotics Loop for Robot-Policy Improvement	—
Self-Evolving Embodied Agents via Skill-Harness Evolution	—
SkillComposer: Learning Reusable Skills for Natural-Language Robot Programming	—
Teach and Grow: An Agent-Centered Architecture for General Robot Learning
Zetta ζ: An Efficient Closed-Loop Embodied Harness for Self-Evolving Physical Intelligence
Agent as Policy for Robotic Manipulation	—
Learning and Transferring Closed-Loop Robot Software	—
EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics
What Stops Recursive Self-Improvement in Robotics? Lessons from 123 Rounds of Agentic Skill Discovery	—
HarnessPAI: An Evolving Harness for Physical AI	—
RACaP: Agentic Reasoning, Acting, and Coding as Policies for Evolvable Robot Learning
RAPID: Robot Agentic Programming from Demonstrations	—
Explore, Execute, Evolve: A Skill Acquisition and Reuse Loop for Embodied Agents
Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents	—

Harness · Infrastructure

Paper Title	Code
Plug in the Safety Chip: Enforcing Constraints for LLM-driven Robot Agents
OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics
Jailbreaking LLM-Controlled Robots
Gemini Robotics: Bringing AI into the Physical World	—
SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
Real-Time Execution of Action Chunking Flow Policies
Running VLAs at Real-time Speed
VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference
Training-Time Action Conditioning for Efficient Real-Time Chunking	—
RoboNeuron: A Middle-Layer Infrastructure for Agent-Driven Orchestration in Embodied AI
Safety Guardrails for LLM-Enabled Robots
BitVLA: 1-bit Vision-Language-Action Models for Robotics Manipulation
RoboSafe: Safeguarding Embodied Agents via Executable Safety Logic	—
How Fast Can I Run My VLA? Demystifying VLA Inference Performance with VLA-Perf
Contextual Safety Reasoning and Grounding for Open-World Robots	—
LeRobot: An Open-Source Library for End-to-End Robot Learning
OxyGen: Unified KV Cache Management for VLA Inference under Multi-Task Parallelism
RoboECC: Multi-Factor-Aware Edge-Cloud Collaborative Deployment for VLA Models
Pre-Execution Safety Gate & Task Safety Contracts for LLM-Controlled Robot Systems	—
vla.cpp: A Unified Inference Runtime for Vision-Language-Action Models
ROSA: A Robotics Foundation Model Serving System for Robot Factories	—
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
Action Chunk Scheduling for Batched Robot Policy Serving
ETA: A New Agentic Paradigm for Embodied Tasks
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation	—
Show-Harness: Just a VLM Agent Can Play Robots
Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection	—
Efficient Vision-Language-Action Management and Serving for Robot Factories	—

Harness · Layered Systems

Paper Title	Code
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners
Introspective Planning: Aligning Robots' Uncertainty with Inherent Task Ambiguity
MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers	—
Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation
NaVILA: Legged Robot Vision-Language-Action Model for Navigation
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation
Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models	—
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
π₀.₅: a Vision-Language-Action Model with Open-World Generalization
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer	—
Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
Critic in the Loop: A Tri-System VLA Framework for Robust Long-Horizon Manipulation	—
Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models
What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents	—

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Contributing

Paper suggestions are welcome. See CONTRIBUTING.md for the scope and submission details.

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Citation

@article{qin2026towards,
  title={Towards Agentic Robots: Model, Data, Environment, and Harness},
  author={Chonghan Qin and Dongming Wu and Kaituo Feng and Jiaxu Wang and Xinlei Yu and Peiwen Sun and Yijia Fan and Xilin He and Bingao Chen and Weitong Lian and Ryan Ji and Wenqi Ren and Xiaobin Hu and Dahua Lin and Yu-Gang Jiang and Xiangyu Yue},
  year={2026},
  journal={arXiv preprint arXiv:2610.20442},
}

chonghanqin/Awesome-Agentic-Robots

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Star history

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Health signals

README

Awesome Agentic Robots

Overview

Taxonomy

Papers

Model

Model · Training

Model · Perception

Model · Planning

Model · Robot Control

Model · Adaptation

Data

Data · Collection

Data · Annotation

Data · Refinement

Environment

Environment · Reconstruction

Environment · Task Generation

Environment · Benchmarking

Harness

Harness · Orchestration

Harness · Memory

Harness · Monitoring and Recovery

Harness · Skills

Harness · Infrastructure

Harness · Layered Systems

Contributing

Star History

Citation