Two humanoids carry one payload through a narrow corridor: coordination becomes executable code, and a failed physical check rewrites roles
When two humanoid robots carry one freely supported rigid payload through constrained corridors, team coordination is written as executable code rather than fixed by task decomposition, with a multimodal foundation model supplying motion primitives, semantic objectives, temporary roles and bounded parameters. A verifier judges each physical transition; rejected ones trigger structured revision from the latest accepted checkpoint, and verified experience is retained for reuse. Across 15 base-task runs with three foundation-model backbones, 8 tasks completed, with every backbone achieving end-to-end success.