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MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation

arXiv · Artificial Intelligence · article · Sep 17, 2026 · UTC

Long-horizon robot manipulation requires not only stable local visuomotor control, but also continuous target tracking and reliable task progress assessment throughout execution. This challenge becomes particularly critical when multiple objects share identical appearances and must be manipulated in a prescribed order. In such scenarios, relying solely on a limited-horizon manipulation policy is often insufficient to determine which instance should be operated on and when the task should transition to the next stage. To address this challenge, we propose MaskHarness-WAM, an instance-grounded h

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