Pretty much, but it's building on top of the previous QF program [0][1] where the USAF would retrofit retired jets like the F-4 and older F-16s as drones for target training. They used to be remotely controlled but the VENOM platform is testing complete autonomy.

[0] - https://www.af.mil/About-Us/Fact-Sheets/Display/Article/1045...

[1] - https://www.af.mil/News/Article-Display/Article/467196/first...