NavHarness carries maps, search records and house notes into the next conversation, lifting GOAT-Bench s-SR by 18.6 to 34.8 points
NavHarness is a training-free embodied harness that makes memory processing part of the navigation loop: each task opens a fresh multi-round agentic session that inherits prior experience through maps, task records and house notes, while outcome verification and run-end consolidation decide what later sessions inherit; on GOAT-Bench it improves s-SR over context-only independent sessions by 18.6 points with GPT-6 Astra, 22.6 with Opus 5, 34.8 with GPT-4o and 30.3 with Qwen3.8-27B, and with SLAM-estimated poses Astra reaches 83.7 s-SR with 36.9 e-SR on GOAT-Bench and 85.9 s-SR on IR2R-CE.