RLE-Bench: A Qualifying Exam for Coding Agents as Robot Learning Engineers

Abstract:Coding agents are beginning to move beyond purely digital tasks to tackle physical-world challenges, particularly in robotics. Existing robotics benchmarks, however, primarily focus on the performance of individual artifacts, such as policies or controllers, offering limited coverage of coding agents' broader engineering capabilities. Real-world robotics extends beyond control: agents must build, integrate, diagnose, and improve heterogeneous artifacts under resource constraints and reason from multimodal feedback. To evaluate these broader capabilities, we introduce RLE-Bench, a benchmark of robot-learning tasks spanning four representative robotics development workflows: interactive control, policy learning, perception and estimation, and mechanical design. We use diverse task-specific metrics to evaluate the artifacts submitted by the coding agents, from the success rate the agents achieved to the policy agents trained, the harness agent built, and the mechanical structures the agent designed. We aggregate these metrics into an overall RLE Index and report workflow-specific capability profiles, enabling systematic comparison of coding agents' capabilities across multiple capability dimensions. Beyond performance ranks, we also conduct in-depth case studies examining agent behavior on representative tasks, highlighting both current capabilities and limitations, and pointing to the opportunities robotics tasks have to offer for future agent training.

28 pages, 17 figures. Project website: this https URL

Robotics (cs.RO)

arXiv:2609.34210 [cs.RO]

(or arXiv:2609.34210v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34210 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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