Author

Wenhao Tang

Tsinghua University

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Preprint Aug 2026

AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning

Autonomous pursuit-evasion is a fundamental challenge for Unmanned Aerial Vehicles (UAVs), requiring rapid decision-making under tightly coupled dynamics and continuously changing opponent behaviors. Traditional rule-based or differential-game approaches often struggle with high-dimensional aerial interactions and agil...

Wenhao Tang, Tianyang Chen, Zhejun Cui et al. · 0 citations

Preprint Jul 2026

Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models

Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is necessary for forming action-compatible...

Yufeng Ji, Wenhao Tang, Haoyi Niu et al. · 0 citations

Preprint Jul 2026

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

Hness VLA is presented, a memory-augmented agentic framework that exposes a frozen VLA as a retryable contact-rich primitive and composes it with a small fixed library of analytic primitives for grounding, staging, transport, navigation, and release.

Yixian Zhang, Huan Zhang, Feng Gao et al. · 8 citations · ⚡2