HexaShell: A Thin Harness for Exploring the Limits of VLM Agents as Robot Coding Agents
Agents built on vision language models (VLMs) now compete with learned policies on robot manipulation leaderboards. We ask how far a coding agent can go when it controls a robot instead of a computer, and where it stops. Our system, HexaShell, keeps the harness thin: it only turns the agent's commands into robot motion. The agent drives a robot with two arms through one command line. It sees three RGB cameras and knows their calibration. After each failed attempt, the agent reads the log, finds the cause, and writes or fixes small programs called tools. In this way it keeps what it learns as code, as a coding agent does when it fixes a failing test. The tools may use only what the robot obse
| Authors | Hongcheng Gao, Alex Zhou, Jay Zhu et al. |
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| Published | 16 October 2026 |
| Last updated at source | — |
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