{"id":"https://openalex.org/W7140755151","doi":"https://doi.org/10.1109/lra.2026.3678124","title":"Failure Detection With Zero-Shot Error Correction in Robotic Manipulation","display_name":"Failure Detection With Zero-Shot Error Correction in Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7140755151","doi":"https://doi.org/10.1109/lra.2026.3678124"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3678124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","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":null,"display_name":"Haojie Luo","orcid":"https://orcid.org/0009-0002-4765-8697"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haojie Luo","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0002-4765-8697","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121824823","display_name":"Xizhou Bu","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhou Bu","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0004-8132-4599","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hongbo Wang","orcid":"https://orcid.org/0000-0002-0205-6441"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Wang","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0205-6441","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130636486","display_name":"Shijie Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijie Guo","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1335-2852","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130650348","display_name":"Junxiu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I29739308","display_name":"Guangxi Normal University","ror":"https://ror.org/02frt9q65","country_code":"CN","type":"education","lineage":["https://openalex.org/I29739308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiu Liu","raw_affiliation_strings":["Guangxi Key Laboratory of Brain-inspired Computing and Intelligent Chips, Guangxi Normal University, Guilin, China"],"raw_orcid":"https://orcid.org/0000-0002-9790-1571","affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Brain-inspired Computing and Intelligent Chips, Guangxi Normal University, Guilin, China","institution_ids":["https://openalex.org/I29739308"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130678479","display_name":"Wei Li","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Li","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9786-585X","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67767405,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6256","last_page":"6263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.16619999706745148,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.16619999706745148,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.14470000565052032,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.03660000115633011,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/error-detection-and-correction","display_name":"Error detection and correction","score":0.5717999935150146},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.31769999861717224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3089999854564667},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.302700012922287},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3010999858379364}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859000086784363},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.5717999935150146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5033000111579895},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4893999993801117},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3010999858379364},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26350000500679016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3678124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Diffusion":[0],"Policy":[1],"(DP)":[2],"is":[3],"effective":[4],"for":[5,30,37,71,109],"imitation":[6],"learning":[7],"in":[8],"robotic":[9],"manipulation,":[10],"yet":[11],"likelihood-based":[12],"replanning":[13],"methods":[14],"lack":[15],"self-correction":[16],"and":[17,46,64,74,82,95,107],"often":[18],"fail":[19],"once":[20],"execution":[21],"deviates.":[22],"Vision-Language":[23],"Models":[24],"(VLMs)":[25],"offer":[26],"strong":[27],"spatial":[28],"reasoning":[29],"failure":[31],"handling":[32],"but":[33],"incur":[34],"prohibitive":[35],"latency":[36],"real-time":[38],"use.":[39],"We":[40],"propose":[41],"a":[42,51,65,69,102],"two-stage":[43],"Failure":[44],"Detection":[45],"Error":[47],"Correction":[48],"(FDEC)":[49],"framework:":[50],"lightweight":[52],"visual":[53],"dynamics":[54],"model":[55],"performs":[56],"fast":[57],"predictive":[58],"monitoring":[59],"to":[60],"flag":[61],"potential":[62],"failures,":[63],"threshold":[66],"switch":[67],"triggers":[68],"VLM":[70],"high-precision":[72],"verification":[73],"adaptive":[75],"correction":[76],"only":[77],"when":[78],"needed.":[79],"On":[80],"RLBench":[81],"physical":[83],"platforms,":[84],"FDEC":[85],"improves":[86],"detection":[87],"speed":[88],"by":[89,99],"2.1\u00d7":[90],"over":[91],"pure":[92],"VLM-based":[93],"detectors":[94],"raises":[96],"task":[97],"success":[98],"26.7%,":[100],"demonstrating":[101],"practical":[103],"trade-off":[104],"between":[105],"responsiveness":[106],"generalization":[108],"real-world":[110],"manipulation.":[111]},"counts_by_year":[],"updated_date":"2026-04-10T06:02:16.177343","created_date":"2026-03-27T00:00:00"}
