arXiv:2609.24974v1 Announce Type: cross
Abstract: Agent harnesses, the external systems that mediate model-environment interaction, can substantially improve agent performance, but their gains remain...
By Haoran Ye, Yuxing Lu, Haonan Dong, Zhaochen Su, Guojie Song
RoboArchitect automates the design of agent harnesses that orchestrate frozen robot policies, vision tools, and direct arm commands. By observing rollouts, diagnosing failures, and iteratively revising the harness, it improves success rates from 9.7% to 43.3% on unseen scenes and from 12.7% to 40.2% on unseen tasks without updating model weights. The evolved harness also develops persistent memory and intuitive control strategies, outperforming finetuned policies especially when the benchmark diverges from the policy’s training data.
By Shengguang Wu, Suning Huang, Cherie Ho, Ria Doshi, Hao Zhu, Serena Yeung-Levy
arXiv:2610.35817v1 Announce Type: cross
Abstract: A robot policy needs to understand what a task is asking for in a scene, and how to move the robot to accomplish that task. To achieve these two skil...
By Benjamin Pikus, Daniel Saunders, Mircea Mironenco, Salman Mohammadi, Mathew Mathew, Sirou Zhu, Divya Makkar, Xuhua Huang, Qinbo Li, Supreeth Narasimhaswamy, Siyuan Cen, Thomas Neff, Dejia Xu, Shyamal Buch
Teach-and-Grow Learning (TGL) is an agent-centered architecture that transforms a few successful demonstrations into reusable Skill Blocks, enabling a robot to compose, execute, and revise behaviors in new scenes without task-specific policy retraining. The system maintains a Skill Library and structured Experience Memory to capture successes, failures, and repairs, allowing persistent reuse and agent-directed adaptation. Evaluation on the LIBERO benchmark shows state-of-the-art performance, and the authors propose a scaling-law hypothesis suggesting that accumulated reusable experience reduces future-task error and teaching demand following a power-law trend.
By Chang Nie, Zhe Liu, Hesheng Wang
arXiv:2610.18792v1 Announce Type: cross
Abstract: Frontier language-model agents can now improve robots on their own: they write control code, test it, and keep what works as skills and memories for...
By Xinyi Wang, Bangzheng Li, Hanyu Wang, Lin Zhang, Andrea Yaoyun Cui, Zhenggang Tang, Shyamal Buch, Dejia Xu
The paper introduces Regularized Recursive Self-Improvement of Agent Harnesses (RRSI), a method that applies regularization principles to the iterative editing of an LLM agent’s harness—prompts, control flow, tooling, memory, and context management. RRSI limits the number of edits per candidate, encourages novel trajectories, and uses a critic and pruner to filter out benchmark‑specific or ineffective changes, thereby favoring reusable agent mechanisms. Experiments on eight benchmarks show RRSI improves performance by up to 14.1 points on the training split and 4.7 points on out‑of‑distribution tests, while reducing policy token usage by 30% compared to unregularized evolution.
By Peng Xia, Rujun Han, Zifeng Wang, Yanfei Chen, Yufan Zhang, Yoonho Lee, Chengsong Huang, Han Yu, Zhongying CuiZhu, Yifei Ming, Huaxiu Yao, Burak Gokturk, Tomas Pfister, Chen-Yu Lee