{"id":"https://openalex.org/W7160066930","doi":"https://doi.org/10.48550/arxiv.2605.00663","title":"Affordance Agent Harness: Verification-Gated Skill Orchestration","display_name":"Affordance Agent Harness: Verification-Gated Skill Orchestration","publication_year":2026,"publication_date":"2026-05-01","ids":{"openalex":"https://openalex.org/W7160066930","doi":"https://doi.org/10.48550/arxiv.2605.00663"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.00663","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.00663","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.00663","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135124235","display_name":"Haojian Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Haojian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135214876","display_name":"Jiahao Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Jiahao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135251395","display_name":"Yinchuan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yinchuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135220785","display_name":"Yingcong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yingcong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.358599990606308,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.358599990606308,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.17080000042915344,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.14259999990463257,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.8553000092506409},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6000999808311462},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.5734999775886536},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4438999891281128},{"id":"https://openalex.org/keywords/troubleshooting","display_name":"Troubleshooting","score":0.40630000829696655},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.357699990272522},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3273000121116638},{"id":"https://openalex.org/keywords/handshake","display_name":"Handshake","score":0.32519999146461487},{"id":"https://openalex.org/keywords/router","display_name":"Router","score":0.3107999861240387}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8553000092506409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7038000226020813},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6000999808311462},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.5734999775886536},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4523000121116638},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4438999891281128},{"id":"https://openalex.org/C147494362","wikidata":"https://www.wikidata.org/wiki/Q2078905","display_name":"Troubleshooting","level":2,"score":0.40630000829696655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4009000062942505},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.357699990272522},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C2778000800","wikidata":"https://www.wikidata.org/wiki/Q830043","display_name":"Handshake","level":3,"score":0.32519999146461487},{"id":"https://openalex.org/C2775896111","wikidata":"https://www.wikidata.org/wiki/Q642560","display_name":"Router","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C2781198186","wikidata":"https://www.wikidata.org/wiki/Q701521","display_name":"Collusion","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28630000352859497},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C2779010991","wikidata":"https://www.wikidata.org/wiki/Q2720909","display_name":"Artifact (error)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C2779808786","wikidata":"https://www.wikidata.org/wiki/Q6664603","display_name":"Locality","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25949999690055847},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.00663","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.00663","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.00663","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.00663","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.7098389863967896,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Affordance":[0,99],"grounding":[1,71,181],"requires":[2],"identifying":[3],"where":[4,14],"and":[5,22,56,86,113,125,132,145,158,168,188],"how":[6],"an":[7,110],"agent":[8],"should":[9],"interact":[10],"in":[11],"open-world":[12],"scenes,":[13],"actionable":[15],"regions":[16],"are":[17,43],"often":[18],"small,":[19],"occluded,":[20],"reflective,":[21],"visually":[23],"ambiguous.":[24],"Recent":[25],"systems":[26,68],"therefore":[27],"combine":[28],"multiple":[29,165],"skills":[30,108],"(e.g.,":[31],"detection,":[32],"segmentation,":[33],"interaction-imagination),":[34],"yet":[35],"most":[36],"orchestrate":[37],"them":[38],"with":[39,109],"fixed":[40],"pipelines":[41],"that":[42,79,105],"poorly":[44],"matched":[45],"to":[46,58,84,95,119,129],"per-instance":[47],"difficulty,":[48],"offer":[49],"limited":[50],"targeted":[51,149],"recovery":[52],"from":[53,61],"intermediate":[54],"errors,":[55],"fail":[57],"reuse":[59],"experience":[60],"recurring":[62,123],"objects.":[63],"These":[64],"failures":[65],"expose":[66],"a":[67,102,127,152,172],"problem:":[69],"test-time":[70],"must":[72],"acquire":[73],"the":[74,161],"right":[75],"evidence,":[76],"decide":[77],"whether":[78],"evidence":[80,111,146,157],"is":[81],"reliable":[82],"enough":[83],"commit,":[85],"do":[87],"so":[88],"under":[89],"bounded":[90],"inference":[91],"cost":[92,114],"without":[93],"access":[94],"labels.":[96],"We":[97],"propose":[98],"Agent":[100],"Harness,":[101],"closed-loop":[103],"runtime":[104],"unifies":[106],"heterogeneous":[107],"store":[112],"control,":[115],"retrieves":[116],"episodic":[117],"memories":[118],"provide":[120],"priors":[121],"for":[122],"categories,":[124],"employs":[126],"Router":[128],"adaptively":[130],"select":[131],"parameterize":[133],"skills.":[134],"An":[135],"affordance-specific":[136],"Verifier":[137],"then":[138],"gates":[139],"commitments":[140],"using":[141],"self-consistency,":[142],"cross-scale":[143],"stability,":[144],"sufficiency,":[147],"triggering":[148],"retries":[150],"before":[151],"final":[153],"judge":[154],"fuses":[155],"accumulated":[156],"trajectories":[159],"into":[160],"prediction.":[162],"Experiments":[163],"on":[164],"affordance":[166],"benchmarks":[167],"difficulty-controlled":[169],"subsets":[170],"show":[171],"stronger":[173],"accuracy-cost":[174],"Pareto":[175],"frontier":[176],"than":[177],"fixed-pipeline":[178],"baselines,":[179],"improving":[180],"quality":[182],"while":[183],"reducing":[184],"average":[185],"skill":[186],"calls":[187],"latency.":[189],"Project":[190],"page:":[191],"https://tenplusgood.github.io/a-harness-page/.":[192]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-05T00:00:00"}