Robot Manipulation with GPT-6-Astra: Body Knowledge, Experience Reuse, Emergent Skills, and Sim2Real Transfer

The paper investigates robot manipulation in simulated and physical elevator-button tasks using an XLeRobot controlled by GPT-6-Astra. It examines the roles of external body knowledge, successful experience, and executable skills in improving task execution and enabling Sim2Real transfer. The reported simulation experiment evaluates how complete robot geometry and camera information affect mean completion time.