# Agentic Robot Creation through Generation, Verification, and Revision

arXiv: https://arxiv.org/abs/2610.17881 · HTML: https://mlsanity.com/paper/2610.17881/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- First posted on arXiv 13 Oct 2026.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Abstract (arXiv)

Can an AI agent turn high-level user intent into a functioning robot and teach it how to behave? We study this question from two complementary aspects: embodiment and behavior creation. For embodiment creation, we investigate how well current multimodal models capture mechanical requirements, and introduce computational metrics for evaluating generated designs before fabrication. For behavior creation, we present Roboforge, an agentic framework that turns task specifications into executable policies through motion generation, policy learning, and execution-grounded revision. Given a robot embodiment and task, the agent generates a reference motion, configures the learning objective, and trains a policy. Crucially, motion remains in the loop: rollout feedback can revise the reference motion, reward, or both. We evaluate a generated embodiment across multiple MLLMs and behavior creation across four diverse robots against reward-refinement and one-shot motion baselines. Our computational metrics expose recurring mechanical failures in generated designs, while behavior experiments show that execution-grounded refinement improves task-level behavior and execution quality. Finally, we fabricate an agent-generated Gorilla and directly deploy learned behaviors on the physical robot.