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TaskAnchor lets VLA use execution history to address task-state confusion in long-horizon manipulation tasks

TaskAnchor connects execution history to VLA's existing language and vision interfaces through a lightweight adapter, aiming to alleviate task-state confusion in long-horizon manipulation. It uses a dual-path design: a normalized task-state coordinate that describes semantic execution stages, and a visual residual based on context-adaptive test-time training (CA-TTT) that preserves historical details.

Part of the event: TaskAnchor Uses Execution History to Alleviate VLA Task-State Confusion

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