{"id":"https://openalex.org/W7224093345","doi":"https://doi.org/10.48550/arxiv.2610.36533","title":"RoboAuto: Autonomous Robot Program Search through Multi-Level Physical Understanding","display_name":"RoboAuto: Autonomous Robot Program Search through Multi-Level Physical Understanding","publication_year":2026,"publication_date":"2026-10-27","ids":{"openalex":"https://openalex.org/W7224093345","doi":"https://doi.org/10.48550/arxiv.2610.36533"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2610.36533","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.36533","pdf_url":"https://arxiv.org/pdf/2610.36533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2610.36533","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060210407","display_name":"\u5218\u6b65\u948a","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liu, Buzhao","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054624158","display_name":"Jianing Ye","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ye, Jianing","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141101530","display_name":"Xiu Yuan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuan, Xiu","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106209473","display_name":"\u51af\u9633\u6850","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feng, Yangtong","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160024176","display_name":"Chengsong Huang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huang, Chengsong","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160064813","display_name":"Tyler Dinh","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinh, Tyler","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038669899","display_name":"Yevgeniy Vorobeychik","orcid":"https://orcid.org/0000-0003-2471-5345","observed_orcids":["https://orcid.org/0000-0003-2471-5345"]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vorobeychik, Yevgeniy","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160049227","display_name":"Ning Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhang, Ning","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5160011098","display_name":"Chongjie Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhang, Chongjie","raw_affiliation_strings":["Washington University in St. Louis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in St. Louis","institution_ids":["https://openalex.org/I204465549"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204465549"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.913100004196167,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.913100004196167,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.0640999972820282,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.019500000402331352,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordances","display_name":"affordances","score":0.6340000033378601},{"id":"https://openalex.org/keywords/spatial-relationships","display_name":"spatial relations","score":0.8679999709129333},{"id":"https://openalex.org/keywords/action-effects","display_name":"action effects","score":0.8230000138282776},{"id":"https://openalex.org/keywords/multi-stage-planning","display_name":"multi-stage planning","score":0.8980000019073486},{"id":"https://openalex.org/keywords/physical-uncertainty","display_name":"physical uncertainty","score":0.6769999861717224},{"id":"https://openalex.org/keywords/hierarchical-knowledge-base","display_name":"hierarchical knowledge base","score":0.6840000152587891},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.9100000262260437}],"concepts":[{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.7922000288963318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6865000128746033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6144000291824341},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5684000253677368},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5623000264167786},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5440000295639038},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5401999950408936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.508400022983551},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.44690001010894775},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.43140000104904175},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.4133000075817108},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33230000734329224},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.32519999146461487},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.32359999418258667},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.3149999976158142},{"id":"https://openalex.org/C132829578","wikidata":"https://www.wikidata.org/wiki/Q581151","display_name":"Situated","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2515999972820282},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.25}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2610.36533","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.36533","pdf_url":"https://arxiv.org/pdf/2610.36533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2610.36533","doi":"https://doi.org/10.48550/arxiv.2610.36533","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2610.36533","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2610.36533","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.36533","pdf_url":"https://arxiv.org/pdf/2610.36533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7224093345.pdf","grobid_xml":"https://content.openalex.org/works/W7224093345.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7167029019","https://openalex.org/W7214347370","https://openalex.org/W7215062729","https://openalex.org/W7212839358","https://openalex.org/W7216576645","https://openalex.org/W7162244458","https://openalex.org/W7125938139","https://openalex.org/W7204875813","https://openalex.org/W4415251931","https://openalex.org/W7126116787"],"abstract_inverted_index":{"Recently,":[0],"LLM-based":[1],"autonomous":[2],"agents":[3,22,37],"have":[4],"shown":[5],"strong":[6],"capabilities":[7],"in":[8],"iteratively":[9],"generating,":[10],"evaluating,":[11],"and":[12,26,50,90,111,118,136,155,181,194,200,221,223],"refining":[13],"executable":[14,102],"solutions.":[15],"In":[16],"robotic":[17],"manipulation,":[18],"Code-as-Policy":[19],"lets":[20],"these":[21,68],"search":[23,33,80,226],"over":[24],"modular":[25],"editable":[27],"robot":[28,78],"programs.":[29],"However,":[30],"effective":[31],"program":[32,64,79,225],"requires":[34],"physical":[35,69,84,153,162],"understanding:":[36],"must":[38],"understand":[39],"how":[40,45],"objects":[41,135],"can":[42],"be":[43],"manipulated,":[44],"scene":[46,123],"geometry":[47],"constrains":[48],"actions,":[49],"why":[51],"interactions":[52],"succeed":[53],"or":[54],"fail.":[55],"Existing":[56],"methods":[57],"rely":[58],"mainly":[59],"on":[60,177,191,202],"execution":[61],"feedback":[62],"for":[63,77],"refinement,":[65],"often":[66],"leaving":[67],"questions":[70],"unresolved.":[71],"We":[72,211],"introduce":[73],"RoboAuto,":[74],"a":[75,97],"framework":[76],"that":[81,214,224],"explicitly":[82],"organizes":[83],"understanding":[85],"at":[86],"the":[87,129,185,215],"object,":[88],"scene,":[89],"interaction":[91],"levels":[92],"through":[93],"three":[94,203],"components.":[95],"First,":[96],"hierarchical":[98],"knowledge":[99,106,127,216],"base":[100,217],"combines":[101],"skills":[103],"with":[104,143,229],"object-centric":[105],"of":[107,189],"affordances,":[108],"spatial":[109],"relations,":[110],"action":[112],"effects,":[113],"learned":[114],"from":[115],"embodied":[116],"data":[117],"online":[119],"task":[120],"solving.":[121],"Second,":[122],"grounding":[124],"connects":[125],"this":[126],"to":[128,160],"current":[130],"environment":[131],"by":[132],"identifying":[133],"relevant":[134],"resolving":[137],"action-critical":[138],"quantities.":[139],"Third,":[140],"multi-stage":[141],"planning":[142],"self-designed":[144],"experiments":[145],"checks":[146],"whether":[147],"each":[148],"stage":[149],"produces":[150],"its":[151,230],"expected":[152],"effects":[154],"actively":[156],"tests":[157],"competing":[158],"hypotheses":[159],"resolve":[161],"uncertainties.":[163],"RoboAuto":[164],"achieves":[165],"superior":[166],"performance":[167,227],"across":[168,219],"five":[169],"benchmark":[170],"families,":[171],"attaining":[172],"an":[173],"89.1%":[174],"success":[175,187],"rate":[176,188],"short-horizon":[178],"LIBERO-PRO":[179,192],"tasks":[180,207],"more":[182],"than":[183],"twice":[184],"mean":[186],"ASPIRE":[190,199],"Long":[193],"LIBERO-Plus.":[195],"It":[196],"also":[197],"outperforms":[198],"$\u03c0_{0.5}$":[201],"challenging":[204],"long-horizon":[205],"real-robot":[206],"requiring":[208],"precise":[209],"manipulation.":[210],"further":[212],"show":[213],"transfers":[218],"simulators":[220],"embodiments,":[222],"scales":[228],"size.":[231],"Project":[232],"page:":[233],"https://roboauto-ai.github.io/":[234]},"counts_by_year":[],"updated_date":"2026-11-06T12:05:46.655746","created_date":"2026-10-29T00:00:00"}