Abstract
Recent advances in agentic systems have substantially enhanced the long-horizon capability of embodied manipulation. However, many existing frameworks still follow a passive execution paradigm, which limits their applicability to real-world scenarios involving textual semantic cues, distractors, and initially invisible targets. To bridge this gap, we propose an agent-based active exploration framework that enables robots to dynamically interact with the environment rather than merely execute predefined instructions. Specifically, our framework consists of three collaborative modules: a planning module for high-level task reasoning, a perception module for visual scene understanding, and an execution module for low-level manipulation. This design allows the robot to actively acquire task-relevant information, adapt its behavior based on environmental feedback, and complete manipulation tasks under partial observability. Furthermore, we introduce a fine-grained perception-execution interleaving strategy, which tightly couples visual feedback with skill execution to improve exploration robustness. We evaluate our method on a realistic Find-and-Place task, demonstrating its effectiveness in challenging environments where target objects must be actively discovered before manipulation.
Keywords
Subject
Publication details
- Journal
- Not available
- Open access
- Green open access
Cite this article
APA 7
Ma, S., Zhang, C., Bai, X., Gao, Z., Zhang, S., & Tang, Y. (2026). From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments. https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments
MLA 9
Ma, Shilin, et al. "From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments." https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments.
Chicago (author–date)
Ma, Shilin, Chubin Zhang, Xulong Bai, Zifeng Gao, Shiyi Zhang, and Yansong Tang. 2026. "From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments." https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments.
Harvard
Ma, S., Zhang, C., Bai, X., Gao, Z., Zhang, S. and Tang, Y. (2026) 'From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments', Available at: https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments.
Vancouver
Ma S, Zhang C, Bai X, Gao Z, Zhang S, Tang Y. From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments. https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments
IEEE
S. Ma, C. Zhang, X. Bai, Z. Gao, S. Zhang, and Y. Tang, "From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments," https://omanscience.com/en/articles/from-passive-execution-to-active-exploration-agentic-embodied-manipulation-in-realistic-environments.