people have been experimenting with this since early Opus days.
Check out kRPC. Get it running (or make your agent get it running) and it's trivial for any of the decent models to interface with it
When I tried it with Opus3 I got a lot of really funny urgent messages during failures like "There has been an emergency, initiating near-real-time procedures for crew evacuation.." and then it's just de-couple every stage and ram into the ground.
Makes for a fun ant-farm to watch though.
I like how they classifythr sub problems of their work. Environment/ self questioning -> task / self questioning -> trajectory / self evaluation. OODA-esque.
https://arxiv.org/abs/2511.10395 https://github.com/modelscope/AgentEvolver with thanks to Sung Kim who has been a great feed https://bsky.app/profile/sungkim.bsky.social/post/3m5xkgttk3...
(not a local model)