5arXiv cs.CL (Computation and Language)·
GaP: Graph-as-Policy multi-agent harness for reliable robot automation via self-learning computation graphs
Researchers introduce Graph-as-Policy (GaP), a multi-agent coding harness that generates directed computation graphs combining perception, planning, and control nodes for robotic 'Variational Automation' tasks — those with high variation in object geometry and pose. GaP uses an internal simulation environment to rehearse and iteratively refine graph structures in parallel, improving success rates without relying solely on model-free policies. Evaluation across 8 new benchmarks (4 simulated, 4 real-world) shows significant outperformance over baselines. The work bridges agentic coding systems with interpretable robot programming and Task and Motion Planning.
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GraphPO: Graph-based Policy Optimization reduces redundancy in LLM reasoning RL
GraphPO is a new reinforcement learning framework that represents reasoning rollouts as directed acyclic graphs rather than independent chains or trees, merging semantically equivalent reasoning paths into equivalence classes to share suffixes and reduce redundant exploration. The approach assigns efficiency advantages to incoming edges and correctness advantages to outgoing edges, deriving process supervision from outcome rewards. Experiments on three LLMs across reasoning and agentic search benchmarks show consistent improvements over chain- and tree-based baselines under equal token or response budgets. The method also provides theoretical guarantees on reduced advantage-estimation variance.
GRASP: Gradient-based Planning for World Models at Longer Horizons
Researchers from Berkeley, Meta, and collaborators introduce GRASP, a gradient-based planner designed to make long-horizon planning with learned world models more robust. The method addresses three core failure modes: ill-conditioned computation graphs from backpropagation through time, non-greedy loss landscapes with many local minima, and brittle gradients through high-dimensional vision models. GRASP lifts trajectory optimization into virtual states for parallel optimization across time, injects stochasticity into state iterates for exploration, and reshapes gradients to avoid problematic state-input gradient paths. The work is positioned in the context of scaling world models toward general-purpose simulators usable for control and planning.
Geometric Action Model (GAM) repurposes geometric foundation models for 3D-aware robot manipulation
Researchers propose the Geometric Action Model (GAM), a language-conditioned robot manipulation policy that splits a pretrained geometric foundation model (GFM) to serve simultaneously as an observation encoder, causal future predictor, and action decoder. Unlike existing vision-language-action models that operate on 2D image frames, GAM explicitly incorporates 3D geometric priors for contact-rich manipulation. The approach claims improvements in accuracy, robustness, speed, and model size over foundation-model-scale baselines across simulation and real-robot benchmarks.
EvoPolicyGym benchmark evaluates autonomous policy evolution by LLM agents in RL environments
A new arXiv preprint introduces EvoPolicyGym, a benchmark for evaluating how LLM-based agents iteratively improve executable policies in compact interactive RL environments under a fixed interaction budget. The benchmark provides trajectory-level diagnostics beyond aggregate scores, distinguishing how agents allocate budget and convert feedback into parametric tuning. GPT-5.5 achieves the strongest aggregate rank score and top-two performance across all 16 environments. The work targets a gap in agent evaluation where iterative policy refinement is conflated with open-ended software engineering progress.
VERITAS: Visual verification enables inference-time steering and autonomous improvement for robot policies
Researchers introduce VERITAS, a generator-verifier framework pairing a pre-trained generalist robot policy with a gradient-free visual verifier to steer actions at inference time without additional training. Verified rollouts are also used for offline self-improvement via fine-tuning, achieving performance gains comparable to expert demonstrations but without human intervention. The work demonstrates that inference-time verification is a scalable mechanism for autonomous policy improvement during deployment.
Recursive Agent Harnesses (RAH): harness recursion extends model recursion for long-context coding agents
A new arXiv preprint introduces the Recursive Agent Harness (RAH), a pattern where a parent agent generates executable scripts that spawn parallel subagent harnesses with filesystem tools, code execution, and planning capabilities. The authors frame this as 'harness recursion', a code-first extension of model recursion from recursive language models. Evaluated on the Oolong-Synthetic long-context benchmark, RAH improves over the Codex coding-agent baseline from 71.75% to 81.36% with GPT-5 as backbone, and reaches 89.77% with Claude Sonnet 4.5. The work connects emerging production patterns (e.g., Anthropic's dynamic workflows) to a formal architectural concept.
OpenPipe ART: Agent Reinforcement Trainer for Multi-Step Agents via GRPO
OpenPipe has released ART (Agent Reinforcement Trainer), an open-source Python library for training multi-step agents on real-world tasks using GRPO (Group Relative Policy Optimization). The framework supports multiple model families including Qwen3, GPT-OSS, and Llama. With nearly 10k GitHub stars and 66 gained today, it is gaining notable community traction as a practical RL fine-tuning tool for agentic workflows.
Code as Agent Harness: A Survey of Code as Operational Substrate for Agentic AI Systems
This survey paper introduces the concept of 'code as agent harness,' framing code not merely as output but as the operational infrastructure for LLM-based agents—covering reasoning, action, environment modeling, and execution-based verification. The authors organize the analysis across three layers: harness interface, harness mechanisms (planning, memory, tool use, feedback control), and scaling to multi-agent systems. Applications span coding assistants, GUI/OS automation, embodied agents, scientific discovery, and enterprise workflows. Open challenges include evaluation beyond task success, verification under incomplete feedback, and human oversight for safety-critical actions.