Abstract
Frontier language models are increasingly deployed as agents, and how well an agent performs depends not only on its model but also on its harness: the prompts, tools, memory, and control loop through which the model acts. When an agent is applied to a new problem, a natural question is whether it can use the feedback of the task to improve the way it works, and not merely its answer. Most existing benchmarks keep the agent's harness fixed and score the solution it produces, or target large-scale model training. We introduce Flex-RSI, a benchmark for the recursive self-improvement of agents on vision and robotics tasks under a fixed budget. In each round, an executor improves the task solution, which is kept only if it scores higher on held-out validation data, and an improver then revises the harness, including the executor and itself. Every run starts from the same general-purpose harness, and the final solution is scored on hidden test data. Evaluating closed-source and open-weight models on tasks spanning perception, reasoning, robot action, 3D reconstruction, visual creation, and infrastructure, we find that self-improvement helps most when the agent builds its own solution, that feedback recording only success or failure holds back open-weight models, and that open-weight models fall furthest behind where outputs must pass strict checks of physical stability or exact correctness. Paired runs further show that editing the harness itself contributes to the gains.
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URL
https://arxiv.org/abs/2611.08946
