Robotics & Autonomous Systems
The Problem
The planned path violates joint limits that exist outside the token sequence. Trajectories assume instantaneous velocity changes because inertia is continuous physics the model treats as discrete decisions. The agent doesn't track that a door it passed through 10 steps ago is now closed. And the safety report suppresses edge-case failures that would trigger a recall. The Reasoning Harness enforces physics constraints at every planning step. The Memory Harness tracks environmental state across navigation. Anti-Deception forces honest safety reporting. The Code Harness verifies control system algorithms.
How Ejentum Solves It
One API call forces your model to validate collision geometry, inertial limits, and boundary integrity at every planning step before the trajectory is finalized. The agent tracks environmental state across navigation steps instead of treating each step as independent.
How Four Harnesses Protect Your Agents
Memory Harness
primaryTracks environmental state across navigation steps — which doors are open, which obstacles have moved, which sensor readings have changed. Prevents the planner from operating on stale spatial assumptions. Injection persistence: 24 steps with no decay on interactive reasoning benchmarks.
Reasoning Harness
Enforces physics constraints at every planning step: collision geometry, joint limits, inertial boundaries, momentum conservation. Validates that every trajectory segment is physically achievable, not just syntactically valid. +7.4pp on spatial tasks.
Anti-Deception Harness
Forces honest safety reporting. Prevents the agent from suppressing edge-case failure modes that would trigger safety reviews. Blocks optimistic feasibility claims when the physics are marginal.
Code Harness
Verifies control system code, sensor fusion algorithms, and trajectory planning logic. Catches the silent bugs where the planner generates physically impossible movements that the simulator accepts as valid.
Run your next motion plan through the API. See how the injection catches the physics violation your planner generated as a valid token sequence.