Resource Constraints and Performance in Agentic AI Systems
Organizations: School of Mathematical and Computational Sciences, Massey University, Auckland, New Zealand · Department of Information Systems and Business Analytics, RMIT University, Melbourne, VIC, Australia
Abstract
Progress toward more autonomous AI increasingly depends on agentic systems that combine a language model with tools, memory, state management, and multi-step execution. These mechanisms shape both task capability and operational burden. We compare OpenClaw and NanoBot as complete agentic systems using a paired primary benchmark and a more detailed instrumented subset of paired prompts. In the primary benchmark, the rate of full task completion was 31% for OpenClaw and 25% for NanoBot, a six-percentage-point difference with a 95% task-bootstrap interval from -3 to 15 percentage points, providing no statistically established full-completion advantage for either system. In the instrumented layer, both systems achieved 26% full completion, while NanoBot reached at least partial completion on 43% of prompts compared with 26% for OpenClaw. OpenClaw took longer on 83% of prompts and had a higher recorded peak-memory value on every prompt, with geometric mean ratios of 2.98 for wall time and 19.44 for peak memory. Among the ten detailed-layer prompts on which at least one system achieved partial or full completion, NanoBot weakly dominated on eight; across all 23 prompts, however, ten of its eighteen dominance cases were cheaper joint failures. Outcome labels differ across the two evidence layers, showing why agent-system evaluation should connect capability and resource measurements to attempt-level execution and scoring provenance. These findings show that progress toward more autonomous AI should be evaluated through verified task completion, observed resource use and records linking each result to the execution that produced it.
Figures & tables
| System family | Illustrative systems | Typical autonomy surface | State and orchestration | Deployment, control, and evidence |
|---|---|---|---|---|
| Agent-first development environments | Codex; Claude Code; Google Antigravity; OpenCode | Repository inspection, file editing, terminal execution, testing, and review; some systems add browser or workspace control | Session state, iterative tool loops, planning, verification, and optional delegation or parallel work | Local or cloud-backed development surfaces with approval and sandbox controls; evidence comes mainly from provider documentation |
| Software-engineering platforms and research agents | OpenHands; SWE-agent | Code, terminals, tests, issue descriptions, and benchmark environments | Explicit agent–computer interfaces, execution trajectories, retry policies, and task termination | Often containerised for evaluation; peer-reviewed benchmarks complement project documentation |
| Persistent general-purpose harnesses | OpenClaw ; Hermes Agent | Messaging, browsers, APIs, schedules, communication channels, and cross-domain tools | Persistent memory, background tasks, delegation, channel routing, and long-lived services | Self-hosted or hybrid operation with system-specific permission models; independent comparative evidence remains limited |
| Lightweight harnesses and reimplementations | NanoBot ; NanoClaw; PicoClaw; ZeroClaw | Selected cross-domain tools under a reduced dependency or runtime surface | Compact execution loops and selective memory, scheduling, or delegation features | Commonly self-hosted and intended for constrained deployment; evidence comes mainly from repositories and official documentation |
| Orchestration SDKs and graph frameworks | LangGraph; Microsoft Agent Framework; CrewAI | Developer-defined tools, agents, workflows, and application interfaces | Explicit state graphs, roles, hand-offs, checkpoints, retries, and single-agent or multi-agent coordination | Embedded within applications rather than deployed as end-user agents; research often evaluates primitives rather than complete products |
| Dimension | OpenClaw | NanoBot |
|---|---|---|
| System identifier | openclaw-container-v3 | nanobot-container-v3 |
| System architecture | Service-oriented system with a broader orchestration and runtime surface | Lightweight system with a smaller runtime and execution surface |
| Empirical unit | Complete agentic system | Complete agentic system |
| Observed measures | Outcome, time, CPU, memory, trace and call heuristics, termination | Outcome, time, CPU, memory, trace and call heuristics, termination |
| Analytical scope | Whole-system outcomes | Whole-system outcomes |
| Provenance item | 100-prompt benchmark | 23-prompt detailed layer |
|---|---|---|
| Pairing unit | Prompt identifier, one row per system | Prompt identifier, one row per system |
| System identifier | Product label only | openclaw-container-v3 and nanobot-container-v3 , both in agent mode |
| Outcome record | Ordinal score and category metadata | Manually assessed ordinal outcome plus termination and sparse failure fields |
| Operational record | Startup-latency, CPU, memory, and trace fields; ten system-specific rows contain unexplained simultaneous zeros | Wall time, CPU, peak memory, calls, retries, trace, and termination fields |
| Model, model settings, and prompts | Implementation record identifies the model and selected settings; prompt bank, identifiers, and categories recorded | Implementation record identifies the model and selected settings; prompt text recorded |
| Environment, tools, permissions, and budgets | Runtime and tool environment documented at system level; row-level settings absent | Runtime and tool environment documented at system level; row-level settings absent |
| Dimension | OpenClaw | NanoBot |
|---|---|---|
| Evaluated release | OpenClaw 2026.2.26-beta.1 | NanoBot v0.1.5 |
| Model | OpenAI gpt-4o-mini | OpenAI gpt-4o-mini |
| Inference controls | Temperature 0; top-p 1; context and output-token limits not recorded | Temperature 0.1; provider-default top-p; 65,536-token context; 8,192-token output limit |
| Runtime | Docker Desktop/WSL2 Ubuntu; Node.js 22.22.2; npm 10.9.7 | Docker Desktop/WSL2 Ubuntu; Python 3.12.3 |
| Benchmark execution | Shared 100-prompt suite; 30 short, 35 medium, and 35 long prompts; one scored attempt per prompt | Same benchmark and attempt policy |
| Tool environment | Framework-native browser and execution tools; prepared benchmark services through Docker networking | DuckDuckGo web search and execution tool; prepared benchmark services through Docker networking |
| Metric | Definition and analytical role |
|---|---|
| Full completion | The agentic system reaches the specified end state; primary capability outcome. |
| Partial completion | The agent makes verifiable task-relevant progress without reaching the full end state. |
| Failure | The agent fails to make verifiable task-relevant progress or cannot execute the task. |
| Mean ordinal score | Mean of task scores with failure = 0, partial completion = 0.5, and full completion = 1; secondary summary. |
| Operational burden | Runtime resources consumed by the agentic system, including wall time, memory, CPU time, tokens, tool calls, and cost where available. |
| Measure | OpenClaw | NanoBot | Paired comparison |
|---|---|---|---|
| 100-prompt full completion (primary) | 31/100 | 25/100 | Risk difference 0.060; 95% task-bootstrap interval ; exact McNemar |
| 100-prompt partial or better | 52/100 | 47/100 | Risk difference 0.050; exact McNemar |
| 100-prompt mean ordinal score | 0.415 | 0.360 | Difference 0.055; 95% task-bootstrap interval |
| Detailed-layer full completion | 6/23 | 6/23 | Risk difference 0; exact McNemar |
| Detailed-layer partial or better | 6/23 | 10/23 | Risk difference ; exact McNemar |
| Detailed-layer mean ordinal score | 0.261 | 0.348 | Difference ; 95% task-bootstrap interval |
| Prompt scope | NanoBot | OpenClaw | Mixed | |
|---|---|---|---|---|
| All detailed-layer prompts | 23 | 18 | 0 | 5 |
| At least one non-failure | 10 | 8 | 0 | 2 |
| Design element | Requirement |
|---|---|
| Task structure | Matched task families with the same domain, objective, environment, and tools but different execution depths |
| Repeated execution | Enough independent repeats of every system–task pair to achieve a pre-specified level of precision |
| Experimental controls | Pinned model and system versions, tools, permissions, resource limits, containers, and reset state |
| Run records | A unique execution identifier linking each prompt, output, trace, score, system configuration, and resource record |
| Primary outcome | Verified binary completion against a pre-specified end state |
| Operational measures | Wall time, memory, CPU time, tokens, API cost, tool calls, retries, and termination reason, with each collector and measurement boundary specified |
| Level | Evaluation question | Representative measures | Coverage here |
|---|---|---|---|
| Technical capability | Does the agentic system reach a pre-specified, externally checkable end state? | Full and partial completion, constraint compliance, recovery, and failure | One completion outcome per system–prompt pair |
| System efficiency | Which operational burden accompanies the outcome? | Wall time, memory, tokens, tool calls, monetary cost, retries, and failure exposure | Wall time and peak memory in the 23-prompt layer |
| Organisational value | Does deployment improve work after all implementation and control demands are counted? | Human setup and supervision, correction and rework, integration and maintenance, decision quality, service outcomes, and expected error harm | A field-evaluation extension beyond the benchmark scope |
Appendix figures & tables4 assets
Supplementary material from the paper’s appendix.
Appendix
| Provenance item | OpenClaw | NanoBot |
|---|---|---|
| System release and repository commit | OpenClaw 2026.2.26-beta.1; repository commit not recorded | NanoBot v0.1.5; repository commit not recorded |
| Container and runtime | Docker container using the OpenClaw gateway/runtime through Docker Desktop and WSL2 Ubuntu; Node.js 22.22.2 and npm 10.9.7; image identifier and Ubuntu release not recorded | Docker container nanobot-benchmark through Docker Desktop and WSL2 Ubuntu; Python 3.12.3; NanoBot executable /tmp/nanobot-real/bin/nanobot ; image identifier and Ubuntu release not recorded |
| Model provider and identifier | OpenAI gpt-4o-mini; endpoint and dated model snapshot not recorded | OpenAI gpt-4o-mini; endpoint and dated model snapshot not recorded |
| Inference settings | Temperature 0; top-p 1; context and maximum output-token limits not recorded | Temperature 0.1; provider-default top-p; 65,536-token context; 8,192-token maximum output |
| Benchmark and prompt protocol | Shared 100-prompt suite from AUTONOMOUS-AGENT-BENCHMARK/prompts.md ; 30 short, 35 medium, and 35 long prompts; prompts submitted individually; prompt-bank version, assignment procedure, system instructions, and delivery order not recorded | Same benchmark, horizon allocation, and individual prompt-delivery method; prompt-bank version, assignment procedure, system instructions, and delivery order not recorded |
| Horizon definitions | Short: seconds-scale; medium: minutes-scale; long: extended multi-stage execution | Same definitions |
LLM Agents
Large language model agents use language models to plan, use tools, and act across multi-step tasks and environments.
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