CoEnv: Code-Driven Exploration in Real-to-Sim Digital Twins for Multi-Arm Manipulation

arXiv:2604.05484v2 Announce Type: replace Abstract: General-purpose coding agents can now write, debug, and refine entire robot programs, but only if they have somewhere to practice. Physical hardware is a poor practice ground: exploratory rollouts are slow to reset and, when several arms share a workspace, unsafe. Generic simulation benchmarks are safe but do not match the geometry, assets, or viewpoints of the workspace where the robot must actually work. We present CoEx (Code-driven Exploration), which lets the agent practice in an executable digital twin of its own deployment workspace. The twin is built by CoEnv, our real-to-sim framework, which reconstructs the physical scene from multi-view RGBD into a physics simulation. Inside it, a centralized code agent explores at the program level, writing a complete multi-arm program, running it in the twin, and refining it against grounded verification (privileged state checks, checkpoint predicates on risky steps, and adaptive viewpoints against inter-arm occlusion). Verified programs transfer to hardware through collision-checked deployment. On five real-world multi-arm tasks with up to three heterogeneous robots, CoEx reaches 70% average success, against 50% for the same system without the code agent (where a VLM must choose every primitive step by step), outperforms two prior VLM-planning frameworks, and produces verified episodes at 3.8-11.7x the ablated rate. Because every verified rollout is also a demonstration, exploration leaves reusable experience behind: a $\pi_{0.5}$ policy fine-tuned purely on 200 agent-generated rollouts reaches 100% and 70% real-robot success on two tasks, with no human demonstrations.