robot-agent-exploration / rax

# RAX: Scaling Online Exploration for Robot Agents
> RAX: Scaling Online Exploration for Robot Agents \
> Runhan Huang 1\* , Xiangcheng Zhang 1\*† , Haoyu Chen 1‡ , Yitong Li 2‡ , Yen-Jen Wang 3‡ , Bohan Lyu 3‡ , Haotian Ye 5 , Chuye Hong 3 , Yixuan Wang 2 , Chloe Su 1 , Haoyu Xiong 4 , Yangzhen Wu 3 , Enze Xie 2 , Travis Manderson 4 , Stefano Ermon 5 , Pieter Abbeel 3 , Antonio Torralba 4 , Dawn Song 3 , Weirui Ye 4 , Yilun Du 1 \
> 1 Harvard University   2 NVIDIA   3 UC Berkeley   4 MIT   5 Stanford University \
> \* Equal contribution   † Project lead   ‡ Core contributor
## 🌿 Branches
> [!IMPORTANT]
> **The code lives on the branches below.** `main` is an index; switch to a branch for the
> harness, setup guide and usage guide of that setting. Each branch is self-contained.
| Branch | Setting | Contents | Status |
| --- | --- | --- | --- |
| `robodojo-behavior/container` | 🖥️ Sim | RoboDojo and BEHAVIOR-1K (Isaac Sim 5.1). The agent runs in an offline Docker container; formal evaluation uses held-out layouts. | ✅ available |
| `robodojo-behavior/native` | 🖥️ Sim | The same benchmarks with the agent CLIs running natively, sandboxed by the CLI itself. | ✅ available |
| `humanoid-arena/container` | 🖥️ Sim | HumanoidArena (Isaac Sim 6.1): Unitree G1 with Dex3 hands under the frozen SONIC whole-body controller. The agent runs in an offline Docker container; formal evaluation uses the official test episodes. | ✅ available |
| `humanoid-arena/native` | 🖥️ Sim | HumanoidArena with the agent CLIs running natively, sandboxed by the CLI itself. | ✅ available |
| `dexjoco/container` | 🖥️ Sim | DexJoCo (MuJoCo): Franka arms with Allegro hands on one GPU. The agent runs in an offline Docker container; formal evaluation uses the official evaluation episodes. | ✅ available |
| `dexjoco/native` | 🖥️ Sim | DexJoCo with the agent CLIs running natively, sandboxed by the CLI itself. | ✅ available |
| `real/franka` | 🦾 Real | Franka FR3: one 7-DoF arm, Franka Hand, three ZED cameras. | ✅ available |
| `real/rainbow` | 🦾 Real | Rainbow RB-Y1: wheeled base, 6-joint torso, two 7-DoF arms, grippers, head ZED 2i. | ✅ available |
---
**RAX** (**R**obot **A**gent e**X**ploration) is an open-source framework for robot agents
built around *scaling exploration*. A general-purpose coding agent (Codex CLI or Claude
Code, with a frozen model) drives a robot through perception and control tools, learns the
task from its own online experience, and compiles what worked into a modular robot program
that runs without the agent.
- 🚫 **No demonstrations.** No action demonstration data, hand-engineered action
 primitives or value-function guidance.
- 📈 **Exploration scales.** Generalization to unseen environments improves consistently
 as online experience grows.
- ⚡ **Exploration compiles into code.** The program the agent writes runs up to
 **241× faster** than the agent itself.
- 🤖 **One harness, every body.** Single-arm, bimanual, dexterous, mobile and humanoid
 robots, in simulat