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

arXiv:2609.40306 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-30

Updated: 2026-09-30

Comments: 37 pages, 19 figures. Project page: https://denghaoyuan123.github.io/Dynaharness_page/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Benchmark — 25× in this paper · explained in 2 episodes
Verifier — 20× in this paper · explained in 2 episodes
Trace — 18× in this paper · explained in 2 episodes
Ablation — 16× in this paper · explained in 1 episode
Grounding — 15× in this paper · explained in 3 episodes
Post-Selection — 10× in this paper · explained in 2 episodes
Verification — 9× in this paper · explained in 2 episodes
Adaptation — 5× in this paper · explained in 1 episode
Reinforcement Learning — 3× in this paper · explained in 4 episodes
Generalization — 2× in this paper · explained in 13 episodes
Generative AI — 2× in this paper · explained in 2 episodes
Provenance — 2× in this paper · explained in 3 episodes
Steering — 2× in this paper · explained in 2 episodes
Action Space — 1× in this paper · explained in 1 episode
Additive Decomposition — 1× in this paper · explained in 1 episode
Admissibility — 1× in this paper · explained in 2 episodes
Benchmarking — 1× in this paper · explained in 3 episodes
Consistency — 1× in this paper · explained in 3 episodes
Core — 1× in this paper · explained in 2 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
Robustness — 1× in this paper · explained in 5 episodes
Unified Framework — 1× in this paper · explained in 5 episodes
Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes