PhysEvo: Astra Can Act, Let It
Astra can act, yet reliable manipulation depends on the system through which it observes and controls the world. We introduce PhysEvo, a framework for physical recursive self-improvement (RSI) around a single frozen model. A task agent executes robot tasks; a meta-agent uses the resulting trajectories to diagnose failures, revise tools and skills, and test corrections. The meta-agent can also improve its own diagnostic tools, so retained revisions support both later action and later self-improvement. This process develops joint-level control, evidence-seeking observation, and reusable manipulation skills without model-weight updates or a separately trained action policy. Across 42 RoboDoj...
| Authors | Wenqing Tian, Zeyu Zhang, Zhaocheng Liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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