{"id":"https://openalex.org/W7134987129","doi":"https://doi.org/10.48550/arxiv.2603.09292","title":"See, Plan, Rewind: Progress-Aware Vision-Language-Action Models for Robust Robotic Manipulation","display_name":"See, Plan, Rewind: Progress-Aware Vision-Language-Action Models for Robust Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134987129","doi":"https://doi.org/10.48550/arxiv.2603.09292"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.09292","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09292","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.09292","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128754264","display_name":"Tingjun Dai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Tingjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128742168","display_name":"Mingfei Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Mingfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104298411","display_name":"Tingwen Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Tingwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128787100","display_name":"Zhiheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhiheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Zihao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128707134","display_name":"Zhihui Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhihui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128751084","display_name":"Salman Khan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khan, Salman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128758113","display_name":"Jun Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Chang, Xiaojun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Xiaojun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7603999972343445,"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":0.7603999972343445,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.0746999979019165,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.028200000524520874,"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/robustness","display_name":"Robustness (evolution)","score":0.7059999704360962},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5514000058174133},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5083000063896179},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48089998960494995},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4230000078678131},{"id":"https://openalex.org/keywords/verifiable-secret-sharing","display_name":"Verifiable secret sharing","score":0.375900000333786},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.37119999527931213},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7260000109672546},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7059999704360962},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5514000058174133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5331000089645386},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5083000063896179},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48089998960494995},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4230000078678131},{"id":"https://openalex.org/C85847156","wikidata":"https://www.wikidata.org/wiki/Q59015987","display_name":"Verifiable secret sharing","level":3,"score":0.375900000333786},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3580999970436096},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.34060001373291016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33160001039505005},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32499998807907104},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30649998784065247},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2782000005245209},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.26570001244544983},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.26350000500679016},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.262800008058548},{"id":"https://openalex.org/C2780735816","wikidata":"https://www.wikidata.org/wiki/Q28324931","display_name":"Incremental learning","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C2985963534","wikidata":"https://www.wikidata.org/wiki/Q7603704","display_name":"State information","level":3,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.09292","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09292","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.09292","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09292","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.42566272616386414,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Measurement":[0],"of":[1,61],"task":[2,24],"progress":[3,15,37,96],"through":[4,66],"explicit,":[5],"actionable":[6],"milestones":[7],"is":[8],"critical":[9],"for":[10],"robust":[11,105],"robotic":[12],"manipulation.":[13],"This":[14,101],"awareness":[16],"enables":[17,104],"a":[18,49,59,67,79,89],"model":[19],"to":[20,88],"ground":[21],"its":[22],"current":[23,73],"status,":[25],"anticipate":[26],"verifiable":[27],"intermediate":[28],"states,":[29,146],"and":[30,32,75,86,123,144,158],"detect":[31],"recover":[33],"from":[34],"failures":[35],"when":[36],"stalls.":[38],"To":[39],"embody":[40],"this":[41],"capability,":[42],"we":[43],"introduce":[44],"\\textbf{S}ee,":[45],"\\textbf{P}lan,":[46],"\\textbf{R}ewind":[47],"(SPR),":[48],"progress-aware":[50],"vision-language-action":[51],"framework":[52],"that":[53],"dynamically":[54],"grounds":[55],"language":[56],"instructions":[57,143],"into":[58],"sequence":[60],"spatial":[62],"subgoals.":[63],"SPR":[64,125,147],"operates":[65],"continuous":[68],"core":[69],"cycle,":[70],"Seeing":[71],"the":[72,82,98,119,127,133,137,152],"state":[74,91],"upcoming":[76],"milestone,":[77],"Planning":[78],"trajectory":[80],"towards":[81],"next":[83],"2D":[84],"waypoint,":[85],"Rewinding":[87],"recoverable":[90],"upon":[92],"failure":[93],"by":[94,130],"monitoring":[95],"against":[97],"expected":[99],"sequence.":[100],"closed-loop":[102],"approach":[103],"error":[106],"correction":[107],"without":[108],"requiring":[109],"additional":[110],"training":[111],"data":[112],"or":[113],"auxiliary":[114],"models.":[115],"Extensive":[116],"experiments":[117],"demonstrate":[118],"framework's":[120],"effectiveness,":[121],"generalization":[122],"robustness:":[124],"outperforms":[126],"MolmoAct":[128],"baseline":[129],"5\\%":[131],"on":[132],"LIBERO":[134],"benchmark.":[135],"On":[136],"challenging":[138],"LIBERO-Plus":[139],"benchmark":[140],"with":[141,151],"unseen":[142],"initial":[145],"achieves":[148],"state-of-the-art":[149],"robustness":[150],"smallest":[153],"performance":[154],"drop,":[155],"surpassing":[156],"OpenVLA-OFT":[157],"UniVLA,":[159],"demonstrating":[160],"superior":[161],"out-of-distribution":[162],"robustness.":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-12T00:00:00"}