Author

Rohan Bhagra

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Review Aug 2026

Agentic Harnesses: LLM-Driven Verification Layers for Robot Autonomy

This work proposes a LLM-driven verification layer between planning and execution to evaluate action permissibility, and achieves near 85% precision across accept/escalate/reject categories, with negligible errors between accepting and rejecting tasks, and errors mostly manifesting at the escalate boundary.

Rohan Bhagra, Mahantesh Halapannavar, Uddhav Bhattarai · 0 citations