Abstract
Recently, LLM-based autonomous agents have shown strong capabilities in iteratively generating, evaluating, and refining executable solutions. In robotic manipulation, Code-as-Policy lets these agents search over modular and editable robot programs. However, effective program search requires physical understanding: agents must understand how objects can be manipulated, how scene geometry constrains actions, and why interactions succeed or fail. Existing methods rely mainly on execution feedback for program refinement, often leaving these physical questions unresolved. We introduce RoboAuto, a framework for robot program search that explicitly organizes physical understanding at the object, scene, and interaction levels through three components. First, a hierarchical knowledge base combines executable skills with object-centric knowledge of affordances, spatial relations, and action effects, learned from embodied data and online task solving. Second, scene grounding connects this knowledge to the current environment by identifying relevant objects and resolving action-critical quantities. Third, multi-stage planning with self-designed experiments checks whether each stage produces its expected physical effects and actively tests competing hypotheses to resolve physical uncertainties. RoboAuto achieves superior performance across five benchmark families, attaining an 89.1% success rate on short-horizon LIBERO-PRO tasks and more than twice the mean success rate of ASPIRE on LIBERO-PRO Long and LIBERO-Plus. It also outperforms ASPIRE and $\pi_{0.5}$ on three challenging long-horizon real-robot tasks requiring precise manipulation. We further show that the knowledge base transfers across simulators and embodiments, and that program search performance scales with its size. Project page: this https URL
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URL
https://arxiv.org/abs/2610.36533
