Embodied Turing Machines: Stateful Code for Robot Recursive Self-Improvement
- Published
- Source
- arXiv
- Paper number
- 1175
- Field
- Robotics
- arXiv ID
- 2610.12369
Key points
- They proposed COAP, a new paradigm that controls robots with code alone, without any VLA or VLM.
- Storing state directly in code variables made the basis for decisions transparent, and failure recovery by backtracking and retrying became flexible.
- They designed a recursive self-improvement (RSI) loop where a coding agent (Opus 5.5 Max) repeatedly improves the code library without human intervention.
- It achieved a 70.24% success rate on RoboDojo's 42 bimanual tasks with no model at test time, 38.9 percentage points above the previous best.
- 83% of a new task's code was reused from the shared library, showing a structure where capabilities accumulate as tasks pile up.
Paper links
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