Where is Physical RSI capability from? An Observational Scaling Law of LLM-as-policy
In this paper, we systematically investigate the mechanisms, scaling behavior, and generalization of physical Recursive self-improvement. We introduce PhysRSI-eval to quantify physical RSI through a five-axis metric: First-Attempt Performance, Efficiency, Success, Budget and Improvement from failure. Different VLMs are evaluated on 18 manipulation tasks under a fixed interaction budget. The analysis of experimental results motivates the Physical Barrel Hypothesis: different capabilities may constrain different parts of improvement. The five-axis metrics also distinguish systems with close public benchmark averages and show that high scores need not come with early or efficient gains. We s...
| Authors | Zekai Li, Jiayi Yu, Jinlu Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
Popularity, last 2 days
0 now. Counts as reported by the source, snapshotted daily by Silytics.
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 21 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.