TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
Overview
TaskAnchor improves reactive VLA policies for long-horizon tasks by grounding task state through execution context injection, showing performance gains in benchmarks and real-robot experiments. It addresses task-state aliasing by using in-context cues from earlier human interactions to enable reliable multi-stage execution.
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- arXiv Robotics — research abstractsTaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
This research introduces TaskAnchor, a lightweight adapter that improves reactive vision-language-action (VLA) policies for long-horizon manipulation by grounding task state through execution context injection. TaskAnchor achieves substantial performance gains over existing baselines in benchmarks and real-robot experiments, demonstrating reliable multi-stage execution with in-context cues from earlier human interactions.
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