# HarnessPAI: An Evolvable Harness Framework for Physical AI

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/mvcz2sp9su1lfvhy6qplq06x3
- Original: https://arxiv.org/abs/2609.29166

## Summary

HarnessPAI proposes a model- and embodiment-agnostic Harness framework for Physical AI that treats code as the executable, evolvable interface organizing underlying action primitives. The framework separates two timescales: within a single rollout, it executes open-loop at the program level with a fixed program guiding and checking execution; across rollouts, it evolves closed-loop, using execution feedback to revise the program and distill failures into reusable skills.