Abstract
Physical AI aims to build embodied agents that perceive the world, understand and reason about it, and decide how to act. Yet the field has focused primarily on the last component: the action model that maps observations to low-level controls. The prevailing training recipe can erode the perceptual and reasoning capabilities needed for robust behavior, leaving even strong action models vulnerable to scene perturbations and long-horizon tasks. We introduce HarnessPAI, a model- and embodiment-agnostic Harness framework for Physical AI that treats code as the executable and evolvable interface that organizes the underlying action primitive. The framework separates two timescales: within a 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. Across desktop robot arms, household robots, a robot vacuum, and a legged walking agent, HarnessPAI improves on both pure action models and code-as-policy baselines without retraining the underlying model: a 61.6-point gain over $\pi_{0.5}$ on LIBERO-PRO and a 27.2-point gain over WorldDreamer on RoboCasa atomic tasks. Once a program is selected, rollout execution requires no online high-level LLM deliberation. Beyond execution, the converged program is also a cheap and reliable expert-data collector, and fine-tuning $\pi_{0.5}$ on collected expert data lifts success rate on LIBERO-PRO by 38.8 points. Our results suggest that the frontier of Physical AI depends not only on stronger action models, but also on executable harnesses that integrate perception, task understanding and reasoning, and action execution into a unified, verifiable, and feedback-driven system. Website: this https URL
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URL
https://arxiv.org/abs/2609.29166
