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cs.RO2026
TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
Hengyan Liu, Wenlve Zhou, Bo Yue +7
Reactive vision-language-action (VLA) policies suffer from task-state aliasing in long-horizon manipulation, where identical multimodal inputs call for distinct, context-dependent…
cs.RO2026
Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
Huayi Zhou, Wei Gao, Dekun Lu +12
End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However,…