Despite the tribute and a negotiation between Laoshang Chanyu (r. 174–160 BC) and Emperor Wen (r. 180–157 BC) to reopen border markets, many of the Chanyu's Xiongnu subordinates chose not to obey the treaty and periodically raided Han territories south of the Great Wall for additional goods. In a court conference assembled by Emperor Wu (r. 141–87 BC) in 135 BC, the majority consensus of the ministers was to retain the heqin agreement. Emperor Wu accepted this, despite continuing Xiongnu raids. However, a court conference the following year convinced the majority that a limited engagement at Mayi involving the assassination of the Chanyu would throw the Xiongnu realm into chaos and benefit the Han. When this plot failed in 133 BC, Emperor Wu launched a series of massive military invasions into Xiongnu territory. Chinese armies captured one stronghold after another and established agricultural colonies to strengthen their hold. The assault culminated in 119 BC at the Battle of Mobei, where the Han commanders Huo Qubing (d. 117 BC) and Wei Qing (d. 106 BC) forced the Xiongnu court to flee north of the Gobi Desert.