robotics
A Robot Harness Turned Failures Into Governed Revisions
DynaHarness split slow semantic planning from fast physical monitoring and admitted changes only after regression checks.
Summary
DynaHarness split slow semantic planning from fast physical monitoring and admitted changes only after regression checks.
DynaHarness gives a robot agent a shared execution contract: a slow reasoning component proposes capabilities, while a fast controller grounds commands, refuses unresolved actions, substitutes skills and requests replans. Failure attribution points to reusable capabilities or execution mechanisms, and paired regression checks decide whether revisions enter the library. On 800 new LIBERO-Pro initial states, the authors report 75.2% success versus 17.5% for the frozen policy. The result is benchmark evidence, not a general safety guarantee.
Why it matters
DynaHarness split slow semantic planning from fast physical monitoring and admitted changes only after regression checks.
Limits and context
- The result is benchmark evidence, not a general safety guarantee.
Key claims
DynaHarness split slow semantic planning from fast physical monitoring and admitted changes only after regression checks.
Qualification: The result is benchmark evidence, not a general safety guarantee.
Evidence: source-2026-10-01-004
Sources
- arXiv preprint 2609.40306arXiv · primary research
Corrections
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