Author

Jie Peng

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Preprint Sep 2026

AdaHVLA: Adaptive Harnesses for Long-Horizon Vision-Language-Action Execution

AdaHVLA is introduced, an adaptive harness that refines code-based coordination policies through robot experience to better align agent reasoning and memory with VLA execution.

Jun-Yi Tang, Jie Peng, Ze-Zhen Ding et al. · 1 citation

Preprint Aug 2026

HarnessRisk: A Lifecycle-Oriented Benchmark for Agent Harness Safety

HarnessRisk, a lifecycle oriented benchmark that organizes agent harness safety into six operational phases including Harness Configuration, Capability Extension, Runtime Operation, State Persistence, Action Control, and Incident Recovery, finds that explicit risk recognition does not reliably lead to safe action as so...

Ya Bai, Jinhao Duan, Jie Peng et al. · 1 citation