@article{anticipationvlasolvinglonghorizonembodie,
  title = {Anticipation-VLA: Solving Long-Horizon Embodied Tasks via Anticipation-based Subgoal Generation},
  author = {Zhilong Zhang and Wenyu Luo and Haonan Wang and Yifei Sheng and Yidi Wang and Hanyuan Guo and Haoxiang Ren and Xinghao Du and Yuhan Che and Tongtong Cao and Lei Yuan and Yang Yu},
  year = {2026},
  eprint = {2605.01772},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.01772},
}