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

• URL: http://arxiv.org/abs/2609.11225v1
• Date: Thu, 10 Sep 2026 08:25:46 GMT
• Title: Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection
• Abstract summary: This paper presents textitHarness Robotic OS (HROS), a unified embodied-agent runtime, and Argos, its realization for residential-community inspection.<n>HROS organizes the system into robot runtime, embodied autonomy skills, cognitive agent, and interaction and operations planes.<n>Experiments in a residential property environment achieved 100% waypoint reachability, outdoor localization error below 10cm, local obstacle-response latency below 200ms, and 99% success in alarm delivery.
• Score: 4.737450468943755
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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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