Encore: Few-Shot Agentic Discovery of Manipulation Strategies
Coding agents can now write, run, and debug programs with little human help. Robot tasks, however, are usually specified by a sentence that leaves out how to grasp, in what order to make contact, and what the result should look like, and an agent given only the sentence must find these details by trial and error. We introduce ENCORE, which gives the agent a few demonstrations as evidence to read rather than as training data. A deterministic builder distills each demonstration into a pack of multi-view keyframes, gripper events, frame strips, and the full trajectory. A coding agent studies the pack, writes a policy program against a fixed perception and action API, refines it iteratively o...
| Authors | Yifan Kang, Zihan Wang, Zhiwen Fan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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