CodeActionBench: Evaluating Agentic Code-as-Policy for Embodied Manipulation
CodeActionBench is introduced, a benchmark of 25 manipulation tasks that evaluates this capability through agentic Code-as-Policy and provides a controlled testbed for measuring how general-purpose models translate their capabilities into manipulation behavior and for examining typical failure scenarios in that process...
Yiheng Lyu, Xueying Jiang, Wen-Hao Li et al.
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