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

arXiv:2609.29204 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Code: https://github.com/Haaareally/AdaHVLA-Adaptive_Harness_VLA

Terminology

• Adaptation — 76× in this paper · explained in 1 episode
• Benchmark — 10× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Trace — 3× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Agentic Reasoning — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Actio — 1× in this paper · explained in 1 episode
• Agentic System — 1× in this paper · explained in 2 episodes
• CVF International Conference on Computer Vision — 1× in this paper
• Cooperation — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Procedural Knowledge — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• ASPIRE: Agentic /Skills Discovery for Robotics
• Kimi K3: Open Frontier Intelligence
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

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