DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents
[Robotyka] Autorzy: Haoyuan Deng, Jiebin Liu, Tengxiao Zhang i 3 więcej
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 through a shared execution contract and turns failure evidence into validated capability revisions. To be more specific, the slow brain proposes capabilities and symbolic arguments, while the fast brain grounds and monitors commands, refuses unresolved actions, substitutes capabilities, and requests replans when needed. The physical execution contract bounds each accepted command and records execution evidence across analytic skills, recovery sk…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka