Author

Changxu Wei

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Preprint Sep 2026

PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models

Reinforcement Fine-Tuning~(RFT) has emerged as a promising paradigm for improving Vision-Language-Action~(VLA) policies, yet sparse task-level outcomes provide limited credit for intermediate transitions, especially in long-horizon manipulation. A natural approach is to model intermediate task progress and use it as de...

Yun-Peng Qing, Yi-Lun Kong, Si-Xu Lin et al. · 0 citations

Preprint Jul 2026

Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

Hness VLA is presented, a memory-augmented agentic framework that exposes a frozen VLA as a retryable contact-rich primitive and composes it with a small fixed library of analytic primitives for grounding, staging, transport, navigation, and release.

Yixian Zhang, Huan Zhang, Feng Gao et al. · 8 citations · ⚡2