{"id":"https://openalex.org/W4413145951","doi":"https://doi.org/10.1109/cvpr52734.2025.00649","title":"Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection","display_name":"Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection","publication_year":2025,"publication_date":"2025-06-10","ids":{"openalex":"https://openalex.org/W4413145951","doi":"https://doi.org/10.1109/cvpr52734.2025.00649"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr52734.2025.00649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.00649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-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":"https://openalex.org/A5102521317","display_name":"Enshen Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Enshen Zhou","raw_affiliation_strings":["Beihang University"],"affiliations":[{"raw_affiliation_string":"Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066310925","display_name":"Qi Su","orcid":"https://orcid.org/0000-0002-4769-2812"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Su","raw_affiliation_strings":["Peking University"],"affiliations":[{"raw_affiliation_string":"Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040577594","display_name":"Cheng Chi","orcid":"https://orcid.org/0000-0002-5254-0004"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Chi","raw_affiliation_strings":["Beijing Academy of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Academy of Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101734732","display_name":"Zhizheng Zhang","orcid":"https://orcid.org/0000-0002-5360-7565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhizheng Zhang","raw_affiliation_strings":["Galbot"],"affiliations":[{"raw_affiliation_string":"Galbot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741750","display_name":"Zhongyuan Wang","orcid":"https://orcid.org/0000-0002-9796-488X"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongyuan Wang","raw_affiliation_strings":["Beijing Academy of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Academy of Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058066577","display_name":"Tiejun Huang","orcid":"https://orcid.org/0000-0002-4234-6099"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiejun Huang","raw_affiliation_strings":["Peking University"],"affiliations":[{"raw_affiliation_string":"Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110516350","display_name":"Sheng Lu","orcid":"https://orcid.org/0009-0001-2570-0690"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Sheng","raw_affiliation_strings":["Beihang University"],"affiliations":[{"raw_affiliation_string":"Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351659","display_name":"He Wang","orcid":"https://orcid.org/0000-0002-2053-9439"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Wang","raw_affiliation_strings":["Peking University"],"affiliations":[{"raw_affiliation_string":"Peking University","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5102521317"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":8.1126,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97738261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6919","last_page":"6929"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9666000008583069,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9666000008583069,"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/T10260","display_name":"Software Engineering Research","score":0.9621999859809875,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9588000178337097,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/computer-science","display_name":"Computer science","score":0.7468149065971375},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.6072793006896973},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.567365288734436},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5340446829795837},{"id":"https://openalex.org/keywords/visual-programming-language","display_name":"Visual programming language","score":0.4815150201320648},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3989284038543701},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12252393364906311}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7468149065971375},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.6072793006896973},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.567365288734436},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5340446829795837},{"id":"https://openalex.org/C128644962","wikidata":"https://www.wikidata.org/wiki/Q683111","display_name":"Visual programming language","level":2,"score":0.4815150201320648},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3989284038543701},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12252393364906311},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cvpr52734.2025.00649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.00649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.550000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2807251790","https://openalex.org/W2799406489","https://openalex.org/W2049792449","https://openalex.org/W986251431","https://openalex.org/W2884465220","https://openalex.org/W2131549632","https://openalex.org/W563727013","https://openalex.org/W2161373261","https://openalex.org/W1924502949","https://openalex.org/W4246664336"],"abstract_inverted_index":{"Automatic":[0],"detection":[1],"and":[2,26,50,73,87,114,136,151],"prevention":[3],"of":[4,56,68,89],"open-set":[5,48],"failures":[6,21],"are":[7],"crucial":[8],"in":[9,171],"closed-loop":[10,166],"robotic":[11],"systems.":[12],"Recent":[13],"studies":[14],"often":[15],"struggle":[16],"to":[17,60,77,146,164],"simultaneously":[18],"identify":[19],"unexpected":[20],"reactively":[22],"after":[23],"they":[24],"occur":[25],"prevent":[27],"foreseeable":[28],"ones":[29],"proactively.":[30],"To":[31,83],"this":[32],"end,":[33],"we":[34,91],"propose":[35],"Code-as-Monitor":[36],"(CaM),":[37],"a":[38,65,131,152],"novel":[39],"paradigm":[40],"leveraging":[41,120],"the":[42,85,178],"vision-language":[43],"model":[44],"(VLM)":[45],"for":[46,80],"both":[47,62],"reactive":[49],"proactive":[51],"failure":[52],"detection.":[53],"The":[54],"core":[55],"our":[57],"method":[58],"is":[59],"formulate":[61],"tasks":[63,170],"as":[64,123],"unified":[66],"set":[67],"spatio-temporal":[69],"constraint":[70,94],"satisfaction":[71],"problems":[72],"use":[74],"VLM-generated":[75],"code":[76],"evaluate":[78],"them":[79],"real-time":[81],"monitoring.":[82],"enhance":[84],"accuracy":[86],"efficiency":[88],"monitoring,":[90],"further":[92],"introduce":[93],"elements":[95,122],"that":[96,128],"abstract":[97],"constraint-related":[98],"entities":[99],"or":[100],"their":[101],"parts":[102],"into":[103],"compact":[104],"geometric":[105],"elements.":[106],"This":[107],"approach":[108],"offers":[109],"greater":[110],"generality,":[111],"simplifies":[112],"tracking,":[113],"facilitates":[115],"constraint-aware":[116],"visual":[117,124],"programming":[118],"by":[119,140],"these":[121],"prompts.":[125],"Experiments":[126],"show":[127],"CaM":[129,156],"achieves":[130],"28.7%":[132],"higher":[133],"success":[134],"rate":[135],"reduces":[137],"execution":[138],"time":[139],"31.8%":[141],"under":[142],"severe":[143],"disturbances":[144],"compared":[145],"baselines":[147],"across":[148],"three":[149],"simulators":[150],"real-world":[153],"setting.":[154],"Moreover,":[155],"can":[157],"be":[158],"integrated":[159],"with":[160,174],"open-loop":[161],"control":[162],"policies":[163],"form":[165],"systems,":[167],"enabling":[168],"long-horizon":[169],"cluttered":[172],"scenes":[173],"dynamic":[175],"environments.":[176],"See":[177],"project":[179],"page":[180],"at":[181],"https://zhoues.github.io/Code-as-Monitor.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}