DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents

Excerpt

arXiv:2609.40306v1 Announce Type: cross Abstract: Pretrained robot policies provide useful action priors, but long-horizon manipulation still requires coordination between semantic reasoning and physical execution. Semantic reasoning operates at a coarser timescale than physical interaction, while episode-level failures provide limited guidance on which system component should be revised. We propose DynaHarness, a dynamic physical harness that couples semantic reasoning with physical governance