{"id":"https://openalex.org/W7161050167","doi":"https://doi.org/10.48550/arxiv.2605.11951","title":"From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation","display_name":"From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation","publication_year":2026,"publication_date":"2026-05-12","ids":{"openalex":"https://openalex.org/W7161050167","doi":"https://doi.org/10.48550/arxiv.2605.11951"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.11951","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.11951","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2605.11951","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136088431","display_name":"Sheng Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Sheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136055874","display_name":"Ruixing Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Ruixing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103081584","display_name":"Huayi Zhou","orcid":"https://orcid.org/0000-0002-2220-7286"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Huayi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136078029","display_name":"Bo Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue, Bo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044179456","display_name":"Guanren Qiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiao, Guanren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072104892","display_name":"Yunxin Tai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tai, Yunxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075184266","display_name":"Yueci Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Yueci","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136064191","display_name":"Kui Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Kui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136041905","display_name":"Guiliang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Guiliang","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":0.2506999969482422,"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":0.2506999969482422,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.1753000020980835,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.14720000326633453,"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/executable","display_name":"Executable","score":0.5701000094413757},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5185999870300293},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.44519999623298645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4392000138759613},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3953999876976013},{"id":"https://openalex.org/keywords/unexpected-events","display_name":"Unexpected events","score":0.3903000056743622},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.3610000014305115}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7436000108718872},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5701000094413757},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5185999870300293},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.44519999623298645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4392000138759613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.429500013589859},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3921999931335449},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.3903000056743622},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.3610000014305115},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3334999978542328},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C153180980","wikidata":"https://www.wikidata.org/wiki/Q19776675","display_name":"Commit","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C107418235","wikidata":"https://www.wikidata.org/wiki/Q1520565","display_name":"Human multitasking","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C93500599","wikidata":"https://www.wikidata.org/wiki/Q7687352","display_name":"Task switching","level":3,"score":0.2728999853134155},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.25940001010894775},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.2529999911785126},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.11951","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.11951","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2605.11951","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.11951","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Although":[0],"robotic":[1,173],"manipulation":[2,70,154],"has":[3],"made":[4],"significant":[5],"progress,":[6],"reliable":[7],"execution":[8,164],"remains":[9],"challenging":[10],"because":[11],"task":[12,71,75,115],"failures":[13,98],"are":[14],"inevitable":[15],"in":[16],"dynamic":[17],"and":[18,38,45,55,94,127,132,142,163,169],"unstructured":[19],"environments.":[20],"To":[21],"handle":[22],"such":[23],"failures,":[24,60],"existing":[25],"frameworks":[26],"typically":[27],"follow":[28],"a":[29,69,73,104,109,128],"stepwise":[30],"detect-reason-recover":[31],"pipeline,":[32],"which":[33],"often":[34],"incurs":[35],"high":[36],"latency":[37],"limited":[39],"robustness":[40],"due":[41],"to":[42,53,139],"delayed":[43],"reasoning":[44],"reactive":[46],"planning.":[47],"Inspired":[48],"by":[49],"the":[50,113,121,167],"human":[51],"capability":[52],"anticipate":[54],"proactively":[56],"plan":[57],"for":[58],"potential":[59],"we":[61],"introduce":[62],"AgentChord,":[63],"an":[64,117],"agentic":[65],"system":[66],"that":[67,87,111,119,130,157],"models":[68],"as":[72],"directed":[74],"graph.":[76],"Before":[77],"execution,":[78],"this":[79],"graph":[80,122],"is":[81,178],"enriched":[82],"with":[83,123],"anticipatory":[84,124],"recovery":[85,125],"branches":[86],"specify":[88],"context-aware":[89],"corrective":[90],"behaviors,":[91],"enabling":[92],"immediate":[93],"targeted":[95],"responses":[96],"when":[97],"occur.":[99],"Specifically,":[100],"AgentChord":[101,158],"operates":[102],"through":[103],"choreography":[105],"of":[106,171],"specialized":[107],"agents:":[108],"composer":[110],"structures":[112],"nominal":[114],"graph,":[116],"arranger":[118],"augments":[120],"branches,":[126],"conductor":[129],"compiles":[131],"coordinates":[133],"executable":[134],"transitions":[135],"using":[136],"low-latency":[137],"monitors":[138],"detect":[140],"deviations":[141],"trigger":[143],"pre-compiled":[144],"recoveries":[145],"without":[146],"re-planning.":[147],"Empirical":[148],"studies":[149],"on":[150],"diverse":[151],"long-horizon":[152],"bimanual":[153],"tasks":[155],"demonstrate":[156],"substantially":[159],"improves":[160],"success":[161],"rates":[162],"efficiency,":[165],"advancing":[166],"reliability":[168],"autonomy":[170],"real-world":[172],"systems.":[174],"The":[175],"project":[176],"page":[177],"available":[179],"at:":[180],"https://shengxu.net/AgentChord/.":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-14T00:00:00"}