{"id":"https://openalex.org/W4414433267","doi":"https://doi.org/10.1109/case58245.2025.11164021","title":"A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees","display_name":"A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414433267","doi":"https://doi.org/10.1109/case58245.2025.11164021"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033161877","display_name":"Faseeh Ahmad","orcid":"https://orcid.org/0000-0001-6236-3796"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Faseeh Ahmad","raw_affiliation_strings":["Lund University,Lund,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hashim Ismail","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hashim Ismail","raw_affiliation_strings":["Lund University,Lund,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001913833","display_name":"Jonathan Styrud","orcid":"https://orcid.org/0000-0003-0312-8811"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonathan Styrud","raw_affiliation_strings":["KTH Royal Institute of Technology,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033256365","display_name":"Maj Stenmark","orcid":"https://orcid.org/0000-0001-5822-876X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Maj Stenmark","raw_affiliation_strings":["Lund University,Lund,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109357557","display_name":"Volker Krueger","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Volker Krueger","raw_affiliation_strings":["Lund University,Lund,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"887","last_page":"894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.974399983882904,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9643999934196472,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5374000072479248},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5196999907493591},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5008000135421753},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4569999873638153},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3555000126361847},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.30809998512268066},{"id":"https://openalex.org/keywords/structured-prediction","display_name":"Structured prediction","score":0.3059000074863434}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6717000007629395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5393000245094299},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5374000072479248},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5196999907493591},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5008000135421753},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4569999873638153},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34470000863075256},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28049999475479126},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C163164238","wikidata":"https://www.wikidata.org/wiki/Q2737027","display_name":"Failure rate","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2517000138759613},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case58245.2025.11164021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:2f6d895f-afd2-431e-a284-55a53a4162bc","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/2f6d895f-afd2-431e-a284-55a53a4162bc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2171246729","https://openalex.org/W2548961765","https://openalex.org/W3024044737","https://openalex.org/W3082488836","https://openalex.org/W3113273238","https://openalex.org/W3145123113","https://openalex.org/W3186641986","https://openalex.org/W3207940288","https://openalex.org/W4309675293","https://openalex.org/W4387088429","https://openalex.org/W4387123768","https://openalex.org/W4401417343","https://openalex.org/W4403677337","https://openalex.org/W4405785183","https://openalex.org/W4405786713","https://openalex.org/W4410514916"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"often":[2],"face":[3],"execution":[4,77,104,173],"failures":[5,64,75],"due":[6],"to":[7,50,144],"unexpected":[8],"obstacles,":[9],"sensor":[10],"errors,":[11],"or":[12,23],"environmental":[13,100],"changes.":[14],"Traditional":[15],"failure":[16,35,53,69,113,178],"recovery":[17,36,179],"methods":[18,149],"rely":[19],"on":[20,127],"predefined":[21],"strategies":[22],"human":[24],"intervention,":[25],"making":[26],"them":[27],"less":[28],"adaptable.":[29],"This":[30],"paper":[31],"presents":[32],"a":[33,43,95],"unified":[34],"framework":[37,93,118],"that":[38],"combines":[39],"Vision-Language":[40],"Models":[41],"(VLMs),":[42],"reactive":[44,68,148],"planner,":[45],"and":[46,67,73,102,111,134,147,158,172],"Behavior":[47],"Trees":[48],"(BTs)":[49],"enable":[51],"real-time":[52],"handling.":[54,114],"Our":[55],"approach":[56,152],"includes":[57],"pre-execution":[58,146],"verification,":[59],"which":[60,71],"checks":[61],"for":[62,98,106,176],"potential":[63],"before":[65],"execution,":[66],"handling,":[70],"detects":[72],"corrects":[74],"during":[76],"by":[78],"verifying":[79],"existing":[80],"BT":[81],"conditions,":[82],"adding":[83],"missing":[84],"preconditions":[85],"and,":[86],"when":[87],"necessary,":[88],"generating":[89],"new":[90],"skills.":[91],"The":[92],"uses":[94],"scene":[96,170],"graph":[97],"structured":[99,169],"perception":[101],"an":[103,123],"history":[105,174],"continuous":[107],"monitoring,":[108],"enabling":[109],"context-aware":[110],"adaptive":[112],"We":[115],"evaluate":[116],"our":[117,151],"through":[119],"real-world":[120],"experiments":[121],"with":[122],"ABB":[124],"YuMi":[125],"robot":[126],"tasks":[128],"like":[129],"peg":[130],"insertion,":[131],"object":[132],"sorting,":[133],"drawer":[135],"placement,":[136],"as":[137,139],"well":[138],"in":[140,180],"AI2-THOR":[141],"simulator.":[142],"Compared":[143],"using":[145],"separately,":[150],"achieves":[153],"higher":[154],"task":[155],"success":[156],"rates":[157],"greater":[159],"adaptability.":[160],"Ablation":[161],"studies":[162],"highlight":[163],"the":[164],"importance":[165],"of":[166],"VLM-based":[167],"reasoning,":[168],"representation,":[171],"tracking":[175],"effective":[177],"robotics.":[181]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}