# TaskWAM uses stage-aware tokens to steer world-action models toward intended futures

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/afw140soanolp5jdf7pc0bi1t
- Original: https://arxiv.org/abs/2610.28431

## Summary

The paper proposes TaskWAM, a closed-loop, stage-aware framework that uses Mode Tokens to represent fine-grained task requirements and State Tokens to track execution progress, forming a structured task state that steers world-action model generation toward futures matching the current task, addressing the Stage Confusion phenomenon in long-horizon manipulation.