HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness

arXiv:2609.15195 · cs.RO · Submitted 2026-09-14 · Read on arXiv

cs.RO

Submitted: 2026-09-14

Updated: 2026-09-29

Project page: https://agibot-harnessvln.netlify.app

Terminology

• Grounding — 17× in this paper · explained in 3 episodes
• Benchmark — 16× in this paper · explained in 2 episodes
• Agent Harness — 13× in this paper · explained in 2 episodes
• Verification — 9× in this paper · explained in 2 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Success Rate — 4× in this paper
• Training-Free Framework — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Provenance — 3× in this paper · explained in 4 episodes
• AgenticNav — 2× in this paper · explained in 1 episode
• Task Decomposition — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Unified Framework — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Agentic Task — 1× in this paper · explained in 1 episode
• Agentic Tasks — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Navigation Error — 1× in this paper
• Oracle Success Rate — 1× in this paper
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
• ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation
• Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• DRIVE-Nav: Directional Reasoning, Inspection, and Verification for Efficient Open-Vocabulary Navigation
• RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
• ASPIRE: Agentic /Skills Discovery for Robotics
• Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents
• Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

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