CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
"Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains underexplored. We present CaP-X, an open-access framework for systematically studying Code-as-Policy agents in robot manipulation. At its core is CaP-Gym, an interactive environment in which agents control robots by synthesizing and executing programs that compose perception and control primitives. Building on this foundation, CaP-Bench evaluates frontier language and vision-language models across varying levels of abstraction, interaction, and perceptual grounding. Across 12 models, CaP-Bench...
| Authors | Letian Fu, Justin Yu, Karim El-Refai et al. |
|---|---|
| Primary category | cs.RO |
| Published | 23 March 2026 |
| Last updated at source | 2 July 2026 |
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