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Robot Manipulation with GPT-6-Astra: Body Knowledge, Experience Reuse, Emergent Skills, and Sim2Real Transfer
General-purpose multimodal agents can write robot-control programs, but repeated exploration and model-mediated action selection can make execution slow. We study how external body knowledge, successful experience, and executable skills improve an XLeRobot controlled by GPT-6-Astra in a simulated an
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