From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments

arXiv:2609.29091 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 1st Place in the CVPR 2026 GigaBrain Challenge

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Active Exploration — 16× in this paper · explained in 2 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Agentic Framework — 2× in this paper · explained in 6 episodes
• Agentic System — 2× in this paper · explained in 2 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
• SaiVLA-0: Cerebrum--Pons--Cerebellum Tripartite Architecture for Compute-Aware Vision-Language-Action
• VLA-Thinker: Boosting Vision-Language-Action Models through Thinking-with-Image Reasoning
• RoboRetriever: Single-Camera Robot Object Retrieval via Active and Interactive Perception with Dynamic Scene Graph
• Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents

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