---
license: apache-2.0
pretty_name: "UAV Antenna Array & Beamforming Co-Design (Harbor RL Environment)"
task_categories:
- reinforcement-learning
tags:
- reinforcement-learning
- rl-environment
- harbor
- terminal-bench
- beam
- reflection
size_categories:
- n<1K
viewer: false
---
# uav-array-codesign

An RL environment for coding agents, in [Harbor](https://harborframework.com) / Terminal-Bench-Science format. The agent designs a 2x2 antenna array for a 2.45 GHz drone radio, then writes a beamforming and link controller that keeps the link up while the drone flies and gets jammed. A physics simulator scores the result, and the reward is 1 only if all 6 tests pass.

## How it's graded

- Simulator files were not modified
- Antenna design meets the matching, isolation, gain and scan targets
- Submitted antenna characterization matches the simulator
- Controller holds the link on 5 public flight missions
- Submitted evaluation summary matches a fresh run
- Controller holds the link on 5 hidden missions

Exact thresholds are in the [task README](tasks/engineering-sciences/electrical-engineering/uav-array-codesign/README.md).

## Built with Beam

We ran Reflection's [Beam-1.0](https://huggingface.co/reflection/Beam-1.0-501B-A23B) as the agent through Harbor's `terminus-2` harness, served by Hugging Face Inference Providers. Its antenna design passed every antenna test, but its controller dropped the link too often: 14 outages on the public missions (limit 10) and 15 on the hidden ones (limit 12). It saw the 14 outages and still declared success. Trajectories and verifier logs are in `jobs/beam-1.0-terminus2/`.

| Run | Tests passed | Reward | Outages (public / hidden) |
|---|---|---|---|
| Oracle solution | 6/6 | 1.0 | 3 / 3 |
| Independent solution | 6/6 | 1.0 | 8 / 7 |
| Beam¹ | 4/6 | 0.0 | 14 / 15 |
| DeepSeek V4.1 Flash | 3/6 | 0.0 | 27 / 19 |
| Starting baseline | 1/6 | 0.0 | 584 / 551 |

¹ Ran under the earlier 15-minute agent budget. Only completed Beam trials are shown.

## Quick start

```bash
T=tasks/engineering-sciences/electrical-engineering/uav-array-codesign
harbor trials start -p $T -a oracle

# Beam via Hugging Face (token limits below are a conservative guess)
OPENAI_API_KEY="$HF_TOKEN" OPENAI_API_BASE=https://router.huggingface.co/v1 \
harbor run -p $T -a terminus-2 -m openai/reflection/Beam-1.0-501B-A23B:baseten \
  --ak record_terminal_session=false \
  --ak interleaved_thinking=true \
  --ak 'llm_call_kwargs={"extra_body":{"chat_template_kwargs":{"allow_missing_thinking":true}}}' \
  --ak 'model_info={"max_input_tokens":131072,"max_output_tokens":32768,"input_cost_per_token":0,"output_cost_per_token":0}'
```

## Layout

```text
tasks/   the Harbor task: instruction, environment, solution, tests
task/    working copy, author notes and qualification script
jobs/    recorded agent runs (Beam, DeepSeek)
```