Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness
Language models trained on large-scale vision-language data have demonstrated strong potential for embodied agents. Harnessing models through embodied tools use offers a promising alternative to end-to-end vision-language-action systems by combining high-level reasoning with external modules for perception, planning, and control. However, it remains unclear what makes an effective harness for embodied manipulation, and to what extent such a harness can unlock embodied capabilities in a wide range of reasoning models. In this work, we present Guava, a harness framework for embodied tool use developed through systematic exploration of the design space of agent workflows, action spaces, and ...
| Authors | Haowen Liu, Xirui Li, Shaoxiong Yao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 16 June 2026 |
| Last updated at source | 29 September 2026 |
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