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RefGuard: Identity-Aware Language-Guided Robot Manipulation via Joint Target-Anchor-Frame Grounding

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Vision-language-action (VLA) models have substantially advanced language-guided robot manipulation, yet reliable execution still hinges on identifying which physical object an instruction refers to. In cluttered scenes containing repeated objects, ambiguous anchors, or frame-dependent spatial terms, a robot can execute a geometrically valid action on a semantically compatible but unintended instance; we call this failure an identity switch. The referent is jointly determined by three coupled latent variables: the target, the anchor, and the reference frame, so committing to any one of them bef

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