Cyber-physical systems (CPS) operate across a computing continuum of heterogeneous devices with varying support for execution formats such as containers, Wasm, and native binaries. While Kubernetes is the de facto orchestration standard, its container-centric model and operational overhead make it unsuitable for resource-constrained embedded devices in CPS deployments. We present an adaptive orchestration system that treats format heterogeneity as a first-class concern, enabling distributed deployment across heterogeneous CPS environments. The system selects and places components based on device capabilities and user-specified non-functional requirements (NFRs). Through a MAPE-K control loop, local device agents continuously monitor and report constraints to a central orchestrator. Upon detecting a constraint violation, the orchestrator directs the agents to locally adapt through execution format transformations, redeployments, or component suspensions. Evaluation on a distributed image processing pipeline of five microservices demonstrates deployment initialization in \({<}\)  5 min, rapid execution format transformation in \({<}\)  3 s, and a stable agent memory footprint of 30–40 MB even under active load. These results establish that dynamic, NFR-driven heterogeneous orchestration can be achieved with minimal overhead in resource-constrained CPS environments.