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contact-rich control 1manipulation 1memory-augmented agents 1task planning 1vision-language models 1

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1 paper

cs.RO2026

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

Yixian Zhang, Huanming Zhang, Feng Gao +13

The paper introduces Harness VLA, a memory-augmented framework that combines a frozen vision‑language‑action model with a small set of analytic manipulation primitives to improve r…