OpenRUA: Robot-Use Agents Are Zero-Shot Visuomotor Policies

What happened

arXiv:2610.02459v1 Announce Type: new Abstract: Coding agents are extending their reach into the physical world by writing and executing robot control programs. One might expect the agents to use the existing mature software stack that engineers have developed over decades to access sensors and control motion.

Yet prior work primarily engineers complex custom harnesses to orchestrate agents for robot use, particularly by prescribing specialized workflows and providing bespoke interfaces. OpenRUA employs a minimalist workspace-as-harness design, only offering ROS 2 documentation and basic tools while leaving the coding agent to organize its own work without orchestrating any agentic (AI that carries out multi-step tasks rather than answering one question) workflow. With Claude Code powered by Claude Opus 5, OpenRUA achieves success rates of 99.0% on CaP-Bench and 87.0% on LIBERO-PRO, demonstrating that an off-the-shelf coding agent can serve as a zero-shot visuomotor policy through the robot's native interface, without bespoke primitives or task-specific training.