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Jun-Yi Tang

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Preprint Sep 2026

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

Vision-language-action (VLA) models offer strong local control and instruction following but often struggle with long-horizon tasks requiring persistent memory and planning. Task harnesses provide persistent context for agent reasoning by retaining task history and tracking progress across execution stages. To bring th...

Jun-Yi Tang, Jie Peng, Ze-Zhen Ding et al. · 0 citations

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