TL;DR of the paper, generated automatically.

A lean evaluation harness lifts a robot-use agent's RoboDojo score from 29.7 to 50.3.

• Harness: keeps full episode history and stops each motion early. Scene geometry helped most.
• No extras: no learned policy, self-improvement loop or task-specific tuning.
• Caveat: the abstract says reusing experience changes behavior but is not a free lunch.