{"id":"https://openalex.org/W7135210848","doi":"https://doi.org/10.48550/arxiv.2603.11106","title":"RC-NF: Robot-Conditioned Normalizing Flow for Real-Time Anomaly Detection in Robotic Manipulation","display_name":"RC-NF: Robot-Conditioned Normalizing Flow for Real-Time Anomaly Detection in Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135210848","doi":"https://doi.org/10.48550/arxiv.2603.11106"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.11106","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11106","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2603.11106","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101482023","display_name":"Shijie Zhou","orcid":"https://orcid.org/0000-0002-9018-7539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Shijie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128986692","display_name":"Bin Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128992271","display_name":"Jiarui Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jiarui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129047306","display_name":"Xiangyu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Xiangyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373485","display_name":"Jingjing Chen","orcid":"https://orcid.org/0000-0002-5800-6064"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jingjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128970146","display_name":"Yu-Gang Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yu-Gang","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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.6801000237464905,"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"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.6801000237464905,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.05860000103712082,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.035100001841783524,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.7116000056266785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5906000137329102},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5828999876976013},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4860999882221222},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42179998755455017},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41620001196861267},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.3880999982357025}],"concepts":[{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.7116000056266785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6599000096321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6359999775886536},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5906000137329102},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5828999876976013},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4860999882221222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44440001249313354},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42179998755455017},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3880999982357025},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.3765000104904175},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.33889999985694885},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26269999146461487},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26260000467300415},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2549000084400177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2540000081062317},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.11106","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11106","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.11106","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11106","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Recent":[0],"advances":[1],"in":[2,25,131,186],"Vision-Language-Action":[3],"(VLA)":[4],"models":[5,16,147],"have":[6],"enabled":[7],"robots":[8],"to":[9,22,128],"execute":[10],"increasingly":[11],"complex":[12],"tasks.":[13,134],"However,":[14],"VLA":[15,146],"trained":[17],"through":[18,99],"imitation":[19],"learning":[20],"struggle":[21],"operate":[23],"reliably":[24],"dynamic":[26,187],"environments":[27],"and":[28,53,60,76,91,180],"often":[29],"fail":[30],"under":[31,168],"Out-of-Distribution":[32],"(OOD)":[33],"conditions.":[34],"To":[35],"address":[36],"this":[37],"issue,":[38],"we":[39],"propose":[40],"Robot-Conditioned":[41],"Normalizing":[42],"Flow":[43],"(RC-NF),":[44],"a":[45,108,142,151,165],"real-time":[46,152],"monitoring":[47,132],"model":[48],"for":[49,88,116,145],"robotic":[50,94,114,133,184],"anomaly":[51,95,125],"detection":[52],"intervention":[54],"that":[55,138,155,174],"ensures":[56],"the":[57,61,67,71,80,100,178],"robot's":[58],"state":[59],"object's":[62],"motion":[63],"trajectory":[64],"align":[65],"with":[66,164],"task.":[68],"RC-NF":[69,119,139,175],"decouples":[70],"processing":[72],"of":[73,113,182],"task-aware":[74],"robot":[75],"object":[77],"states":[78],"within":[79],"normalizing":[81],"flow.":[82],"It":[83],"requires":[84],"only":[85],"positive":[86],"samples":[87],"unsupervised":[89],"training":[90],"calculates":[92],"accurate":[93],"scores":[96],"during":[97],"inference":[98],"probability":[101],"density":[102],"function.":[103],"We":[104],"further":[105],"present":[106],"LIBERO-Anomaly-10,":[107],"benchmark":[109],"comprising":[110],"three":[111],"categories":[112],"anomalies":[115],"simulation":[117],"evaluation.":[118],"achieves":[120],"state-of-the-art":[121],"performance":[122],"across":[123],"all":[124],"types":[126],"compared":[127],"previous":[129],"methods":[130],"Real-world":[135],"experiments":[136],"demonstrate":[137,173],"operates":[140],"as":[141],"plug-and-play":[143],"module":[144],"(e.g.,":[148],"pi0),":[149],"providing":[150],"OOD":[153],"signal":[154],"enables":[156],"state-level":[157],"rollback":[158],"or":[159],"task-level":[160],"replanning":[161],"when":[162],"necessary,":[163],"response":[166],"latency":[167],"100":[169],"ms.":[170],"These":[171],"results":[172],"noticeably":[176],"enhances":[177],"robustness":[179],"adaptability":[181],"VLA-based":[183],"systems":[185],"environments.":[188]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-14T00:00:00"}