# HexaAnything

The work proposes Physical Coding, representing physical world state (Code as World) and execution procedure (Code as Policy) as executable programs, and builds the physical coding agent HexaAnything, which treats VLA/WAM policies as callable action tools while a Harness owns state bookkeeping, verification, and recovery; on RoboCasa365 with XR-1 as the action model it raises Composite-Unseen success from 34.3% to 38.3% and overall success from 56.6% to 61.1%, a HexaModel v0.1 fine-tuned on Harness-collected traces beats its base model on every split in the same Harness, PhyBench simulated physics experiments are completed with mean relative errors below 5%, and on a dual-arm AgileX robot five of seven tabletop tasks succeed in all three trials.

The work proposes Physical Coding, representing physical world state (Code as World) and execution procedure (Code as Policy) as executable programs, and builds the physical coding agent HexaAnything, which treats VLA/WAM policies as callable action tools while a Harness owns state bookkeeping, verification, and recovery; on RoboCasa365 with XR-1 as the action model it raises Composite-Unseen success from 34.3% to 38.3% and overall success from 56.6% to 61.1%, a HexaModel v0.1 fine-tuned on Harness-collected traces beats its base model on every split in the same Harness, PhyBench simulated physics experiments are completed with mean relative errors below 5%, and on a dual-arm AgileX robot five of seven tabletop tasks succeed in all three trials.