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Where the Harness Meets the Physical World: A Survey of the Physical Agentic Harness

Chenxi Zeng, Zihan Guo, Zicai Cui, Yang Tang, Yue Xin, Zhi Han, Yuan Yuan, Liuhaichen Yang, Shao Zhang, Chen Zhang, Chao Wu, Bingqi Jiang, Jingjing Zhang, Dongzhan Zhou, Shuyue Hu, Ming Zhou, Weinan Zhang, Yang Li

Embodied foundation models now allow robots to act on open-ended instructions, yet success on long-horizon physical tasks also depends on the runtime around the model, which organizes the task, invokes skills, guards execution, and retains experience. Digital agent research treats this runtime, known as the harness, as a first-class design object that can be engineered...