Taylor practiced in a limited capacity, running sprints and doing individual drills. He suffered a compound fracture in his right arm when teammate Lawrence Timmons slammed into it with his helmet while trying to make a tackle in a victory over Carolina on Sept. 21.
Taylor underwent surgery the next day and had two plates and several screws inserted. The 34-year-old said there remains no timetable for his return and he is awaiting clearance from doctors before he can take part in a full practice.
Pittsburgh (4-3) hosts Indianapolis (5-2) on Sunday.