EmbodiedCoder: Parameterized Embodied Mobile Manipulation via Modern Coding Model

The figure shows a subtask Open the door derived from a long-term instruction. Through code-driven geometric parameterization, the door is represented as a parametric model with a hinge axis, and the system generates code that synthesizes a semicircular trajectory consistent with this geometry. The robotic arm then executes the opening motion by following waypoints sampled from the generated trajectory, demonstrating how coding enables functional manipulation without additional training. Abstract-- Recent advances in control robot methods, from end-to-end vision-language-action frameworks to modular systems with predefined primitives, have advanced robots' ability to follow natural language instructions. Nonetheless, many approaches still struggle to scale to diverse environments, as they often rely on large annotated datasets and offer limited interpretability. In this work, we introduce EmbodiedCoder, a training-free framework for open-world mobile robot manipulation that leverages coding models to directly generate executable robot trajectories. By grounding high-level instructions in code, EmbodiedCoder enables flexible object geometry parameterization and manipulation trajectory synthesis without additional data collection or fine-tuning. This coding-based paradigm provides a transparent and generalizable way to connect perception with manipulation.