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RegenHarness: A Robot Agent Harness with Evidence-Gated Recursive Self-Improvement

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Long-horizon robot execution requires a clear distinction between a model's proposal, a controller's termination, and verified task completion. We present RegenHarness, an evidence-gated robot-agent harness connecting task planning to heterogeneous robot skills. Its execution architecture couples a model loop for context-conditioned proposals with an agent loop for dispatch, observation, verification, commitment, and bounded recovery. Four role-isolated contexts separate planning, supervision, verification, and recovery inputs. Versioned memory distinguishes observed facts from accepted task p

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