Embodied Turing Machines: Stateful Code for Robot Recursive Self-Improvement
The embodied world is modeled as an Embodied Turing Machine where code acts as a policy and state is explicit. Code-Only-as-Policy (COAP) replaces large models with executable code, offering explicit state storage and controllable execution. This approach achieves a 70.24% success rate on RoboDojo tasks, suggesting that explicit, editable code can drive robot behavior.