# RoboDojo

Robot manipulation has relied on specialist policies trained on demonstrations, such as vision-language-action models (VLAs) and world-action models (WAMs). AMP1 keeps a generalist AI model in the control loop and has it command arm motion through code, reaching 85.6% zero-shot success on RoboLab-120 against 49.2% and 42.9% for leading VLA and WAM policies. It succeeded in 104 of 108 real-world trials across twelve tasks and three robot instances, with no demonstrations or task-specific training.

Robot manipulation has relied on specialist policies trained on demonstrations, such as vision-language-action models (VLAs) and world-action models (WAMs). AMP1 keeps a generalist AI model in the control loop and has it command arm motion through code, reaching 85.6% zero-shot success on RoboLab-120 against 49.2% and 42.9% for leading VLA and WAM policies. It succeeded in 104 of 108 real-world trials across twelve tasks and three robot instances, with no demonstrations or task-specific training.

Vision-language models can read a task yet still fumble the grasp: on RoboDojo, removing arm execution raises the same model's success rate from 22.5% to 76.2%, locating the bottleneck in physical execution. Auriga separates model decisions from robot execution, with the model keeping an explicit task belief and every motion passing a single admission gateway that previews the trajectory, checks stage tolerances during execution, and stops on divergence. Frozen for evaluation, Auriga reaches 57.7% success and 64.0 Score across 42 tasks, ranking first, and 73.2% on RoboCasa365.

Vision-language models can read a task yet still fumble the grasp: on RoboDojo, removing arm execution raises the same model's success rate from 22.5% to 76.2%, locating the bottleneck in physical execution. Auriga separates model decisions from robot execution, with the model keeping an explicit task belief and every motion passing a single admission gateway that previews the trajectory, checks stage tolerances during execution, and stops on divergence. Frozen for evaluation, Auriga reaches 57.7% success and 64.0 Score across 42 tasks, ranking first, and 73.2% on RoboCasa365.