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arXiv · 2609.11225

Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection

Yaoyuan Yan·Zhiyou Heng·Haoxiang Jie·Gang Liu·Hongjie Yan·Wei Zhou
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Abstract

Autonomous property inspection requires more than robust robot navigation: a deployable system must connect heterogeneous sensing, reusable autonomy capabilities, multimodal scene understanding, human interaction, and enterprise response within a traceable operational loop. Existing quadruped inspection systems commonly integrate these functions through task-specific interfaces, making contextual coordination, knowledge reuse, and controlled adaptation difficult. This paper presents \textit{Harness Robotic OS} (HROS), a unified embodied-agent runtime, and Argos, its realization for residential-community inspection. HROS organizes the system into robot runtime, embodied autonomy skills, cognitive agent runtime, and interaction and operations planes. A shared context connects physical state with agent reasoning; streaming ASR/TTS supports voice-based mission interaction; hierarchical working, episodic, and semantic memory preserves operational knowledge; and a safety-gated self-evolution loop converts execution traces into versioned candidate updates without permitting unconstrained online modification. The Argos prototype integrates a Vbot quadruped, Fast-LIO2 localization and mapping, Hobot-Stereo depth perception, PCT-Planner global planning, EGO-Planner local motion generation, and OpenClaw-orchestrated Qwen3-VL inspection analysis. Experiments in a residential property environment achieved 100\% waypoint reachability, outdoor localization error below 10~cm, local obstacle-response latency below 200~ms, representative hazard-detection rates of 85--95\%, and 99\% success in alarm delivery and structured-report generation. These results validate the deployed navigation and inspection closed loop, while HROS provides an extensible software foundation for memory-augmented, voice-aware, and continuously improvable embodied inspection agents.

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Yaoyuan Yan, Zhiyou Heng, Haoxiang Jie, Gang Liu, Hongjie Yan, Wei Zhou. 2026-09-10. Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection. https://arxiv.org/abs/2609.11225

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