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arXiv · 2610.28589

AgenticRoboRL: Bringing Coding-Agent Post-Training to Agentic Robotics

Xinxin Liu·Bingxin Xu·Wenrui Bao·Ming Li·Wentao Bao·Chen Chen·Yuzhang Shang
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Abstract

Agentic robotics systems combine planners with robot harnesses to perform complex manipulation tasks. Recent work improves these systems through better harnesses and external memory, but relies on powerful closed-source models as planners and does not improve the planners' own capabilities. In contrast, coding agents have improved substantially by post-training the model itself. We therefore investigate whether post-training can also improve robot planners. However, applying it across robot harnesses requires accommodating different execution mechanisms, including VLA skill invocation and control-code generation. To this end, we introduce AgenticRoboRL, a framework for post-training robot planners across different harnesses. The training recipe combines supervised fine-tuning with multi-turn reinforcement learning. To accommodate different execution mechanisms, harness-specific adapters connect recorded planner interactions with task outcomes, enabling a common RL training pipeline while keeping execution components fixed. On LIBERO-PRO, AgenticRoboRL raises the success rate of a 9B-parameter planner from 18.1% to 71.0% without external memory, approaching the 72.1% achieved by Codex (GPT-5.5) with external memory. These results demonstrate post-training as an effective approach for improving robot planners. We will release the framework and trained planner checkpoints.

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Xinxin Liu, Bingxin Xu, Wenrui Bao, Ming Li, Wentao Bao, Chen Chen, Yuzhang Shang. 2026-10-20. AgenticRoboRL: Bringing Coding-Agent Post-Training to Agentic Robotics. https://arxiv.org/abs/2610.28589

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