# Self-Evolving Coding Agents: From Digital Programs to Physical-World Intelligence

arXiv: https://arxiv.org/abs/2609.35432 · HTML: https://mlsanity.com/paper/2609.35432/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Failure recovery and robustness, one of 13 directions in Vision-language-action models.
- Builds on 99 of its 109 references that are in the map.
- First posted on arXiv 28 Sep 2026.

## Placed in

- Vision-language-action models / [Failure recovery and robustness](https://mlsanity.com/vla/failure-recovery-and-robustness/)
- LLM agents and tool use / [Software engineering coding agents](https://mlsanity.com/agents/software-engineering-coding-agents/)

## Builds on (most cited first, 30 of 99)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [SWE-bench: Can Language Models Resolve Real-World GitHub Issues?](https://mlsanity.com/paper/2310.06770/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [SWE-agent: Agent-Computer Interfaces Enable Automated Software Engineering](https://mlsanity.com/paper/2405.15793/) (2024)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [The AI Scientist: Towards Fully Automated Open-Ended Scientific Discovery](https://mlsanity.com/paper/2408.06292/) (2024)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [OpenHands: An Open Platform for AI Software Developers as Generalist Agents](https://mlsanity.com/paper/2407.16741/) (2024)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Eyes Wide Shut? Exploring the Visual Shortcomings of Multimodal LLMs](https://mlsanity.com/paper/2401.06209/) (2024)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [ViperGPT: Visual Inference via Python Execution for Reasoning](https://mlsanity.com/paper/2303.08128/) (2023)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [BLINK: Multimodal Large Language Models Can See but Not Perceive](https://mlsanity.com/paper/2404.12390/) (2024)
- [Visual Programming: Compositional visual reasoning without training](https://mlsanity.com/paper/2211.11559/) (2022)

## Built on by (most cited first, 1 of 1)

- [AdaRSI: On-Demand Recursive Self-Improvement for Embodied Agents](https://mlsanity.com/paper/2610.20474/) (2026)

## Abstract (arXiv)

Vision-language-action (VLA) and world-action (WAM) models map observations and instructions directly to robot actions. This directness ties a policy to training: minor layout or viewpoint changes cause failure, and instructions generalize poorly. The root cause lies in representation: task requirements, conditions, progress, and failure recovery are implicitly encoded in action sequences, making them difficult to inspect or revise. Digital coding agents offer a precedent: LLMs call tools, verify results, and revise from feedback as executable code. The same working pattern of explicit state, manageable execution, and revisable procedures underlies generalization and long-horizon execution in the physical world, letting physical experience return as reusable programs, memory, or evidence. We propose Physical Coding, representing task state and execution as code. Code as World records objects, relations, constraints, and progress; Code as Policy organizes planning, verification, recovery, and execution. We build HexaAnything, which calls perception, planning, and control tools, including VLA/WAM policies, and makes in-the-loop decisions from external feedback. Verified traces become data and memory, enabling evolution from tools and Harness to model weights, architectures, and ultimately hardware and task design. On RoboCasa365, HexaAnything improves Composite-Unseen and overall success over XR-1 VLA, and its Harness-trained HexaModel beats the base on every split, indicating code traces internalize physical execution. On PhyBench and a dual-arm AgileX robot, the agent autonomously completes physics experiments and most tabletop tasks, often faster than published results. We observe data, model, and tool self-evolution; future work targets weight internalization, autonomous redesign of architectures, languages, representations, and tasks, and deployment in manufacturing and science.