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[Submitted on 15 Oct 2026] Title:Scaling Online Exploration for Robot Agents View a PDF of the paper titled Scaling Online Exploration for Robot Agents, by Runhan Huang and 19 other authors View PDF HTML (experimental) Abstract:Robot learning has advanced by scaling demonstration datasets and model capacity; however, deploying a new robot embodiment or task typically necessitates a dedicated teleoperation corpus. The resulting policies remain bounded by their imitation distributions, limiting generalization and continual self-improvement. We introduce RAX (Robot Agent eXploration), an open-source framework for robot agents centered on scaling exploration: enabling agents to improve by acquiring online experience and synthesizing executable programs. In RAX, a general-purpose coding agent generates robot control code, operating without action demonstration data, hand-engineered action primitives, or value-function guidance. Through online exploration, the agent identifies decision sequences that achieve task goals and compiles them into modular programs encapsulating the full perception-planning-control loop. Using RAX, we present a systematic multi-embodiment study on scaling online exploration across precision and long-horizon manipulation tasks using single-arm, bimanual, dexterous, mobile, and humanoid systems in simulation and on real robots. Generalization performance on unseen environments improves consistently as exploration scales. In simulation, RAX outperforms top baseline models by +37.4% on average. On real robots, RAX autonomously learns memory-dependent, articulated, high-precision, deformable, and long-horizon mobile manipulation tasks without human demonstrations, continually improving performance by composing verified skills from prior exploration sessions. As exploration scales, we observe emergent capabilities including active perception, error recovery, safety guardrails, and human-robot collaboration. We open-source RAX as a generalist robot-agent platform in which new robot embodiments are integrated through their APIs alone, without teleoperated data collection or policy training. Comments: Project website is at this https URL Subjects: Robotics (cs.RO) Cite as: arXiv:2610.22496 [cs.RO] (or arXiv:2610.22496v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.22496 arXiv-issued DOI via DataCite (pending registration) Submission history From: Runhan Huang [view email] [v1] Thu, 15 Oct 2026 18:00:28 UTC (14,704 KB) Full-text links: Access Paper: View a PDF of the paper titled Scaling Online Exploration for Robot Agents, by Runhan Huang and 19 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)