Recursive self-improvement requires carrying accepted changes into later improvement cycles, while studying agent-proposed changes also requires substantial research infrastructure. Existing settings often leave agents to rebuild routine infrastructure or restrict exploration to individual components. We introduce RSIG …
General-purpose agents increasingly write code, use tools, and complete complex digital tasks, raising the question of how far these capabilities carry into the physical world. To investigate this, we introduce RobotWorld, a challenging simulation testbed for robot use: turning instructions and observations into physic …
Recursive self-improvement (RSI) aims to achieve compounding gains by having models improve themselves. While most existing RSI systems optimize external agent harnesses or prompts around a frozen base model, data-centric RSI directly updates the model's own parameters by training on agent-generated data. However, beca …
Recent advancements have successfully adapted autoregressive language models to process multimodal signals, such as images and actions. Since raw action signals are continuous, effective tokenization is essential to map high-dimensional inputs into compact discrete tokens for autoregressive processing. However, existin …