In this study, participants reached out and picked up a bar placed on a background grating that induced an illusion in the perceived orientation of the bar. The illusion had a large effect on the orientation of the hand early in the reaches, but this effect decreased continuously as the hand approached the target. This pattern occurred whether or not participants were allowed vision of the hand and target while reaching. These results are consistent with a "planning/control" model of action, in which actions are planned using a context-dependent visual representation but monitored and corrected on-line using a context-independent visual representation. The hypothesized neural bases of these representations are discussed.