Make Code as Policy Great Again: Frontier Agents Write, Call, and Evolve Robot Tools
Frontier models can control robots, but reasoning through every reach, grasp, and retreat makes manipulation slow and token-intensive. We revisit code as policy with a different division of labor: models build executable tools, code handles multi-phase motions, and models decide what to do next. We introduce URAI (Univ...
S. Ge, Alex Zhou, Jian-Shu Zeng et al.
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