RESEARCH PAPERSubmitted 9 Jul 2026

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

Yixian Zhang; Huanming Zhang; Feng Gao; Xiao Li; Zhihao Liu; Chunyang Zhu; Jiaxing Qiu; Yuchen Yan; Jiyuan Liu; Wenhao Tang; Zhengru Fang; Yi Nie; Changxu Wei; Yu Wang; Wenbo Ding; Chao Yu

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Classification

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Major category: VLA
Quadrant: Not applicable
Architecture: Dual-system
Prediction paradigm: Not applicable
Subcategories: Hierarchical & dual-system VLA
Source review status: Verified from primary sources

AT A GLANCE

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BibTeX

@article{zhang2026harnessvla,
  title={Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents},
  author={Zhang, Yixian and Zhang, Huanming and Gao, Feng and Li, Xiao and Liu, Zhihao and Zhu, Chunyang and Qiu, Jiaxing and Yan, Yuchen and Liu, Jiyuan and Tang, Wenhao and Fang, Zhengru and Nie, Yi and Wei, Changxu and Wang, Yu and Ding, Wenbo and Yu, Chao},
  journal={arXiv:2607.08448},
  year={2026}
}

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