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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Heng-Yan Liu

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Preprint Sep 2026

TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation

Reactive vision-language-action (VLA) policies suffer from task-state aliasing in long-horizon manipulation, where identical multimodal inputs call for distinct, context-dependent actions. Given that pretrained VLAs already possess rich control primitives to express diverse behaviors, we hypothesize that the execution...

Heng-Yan Liu, Wen-Lve Zhou, Bo Yue et al. · 0 citations
Preprint Sep 2026

TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation

Reactive vision--language--action (VLA) models struggle with long-horizon manipulation when visually similar observations can correspond to different actions depending on the task stage or interaction history. We refer to this ambiguity as task-state aliasing and introduce TaskAnchor, a lightweight adapter that grounds...

Heng-Yan Liu, Wen-Lve Zhou, Bo Yue et al. · 0 citations

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