{"id":"https://openalex.org/W7163399101","doi":"https://doi.org/10.48550/arxiv.2606.03385","title":"Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation","display_name":"Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-02","ids":{"openalex":"https://openalex.org/W7163399101","doi":"https://doi.org/10.48550/arxiv.2606.03385"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.03385","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03385","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.2606.03385","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137759317","display_name":"Jiahao Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Jiahao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137727376","display_name":"Peiyuan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Peiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137732671","display_name":"Hanzhuo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hanzhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137805676","display_name":"Zihao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Zihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137754047","display_name":"Tianyu Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137757868","display_name":"Hao Chen (5190)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137727878","display_name":"Xuanhao Xiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang, Xuanhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137799111","display_name":"Jianbo Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jianbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025857856","display_name":"Chenchen Fu","orcid":"https://orcid.org/0000-0002-6724-9594"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Chenchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5054650835","display_name":"Wanyuan Wang","orcid":"https://orcid.org/0000-0002-9080-4971"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Wanyuan","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":0.9911999702453613,"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":0.9911999702453613,"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/T10982","display_name":"Motor Control and Adaptation","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0019000000320374966,"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/grasp","display_name":"GRASP","score":0.8170999884605408},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.671999990940094},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5734000205993652},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5382999777793884},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4945000112056732},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4043000042438507},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.384799987077713},{"id":"https://openalex.org/keywords/downstream","display_name":"Downstream (manufacturing)","score":0.36390000581741333}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8170999884605408},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.671999990940094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6061999797821045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5864999890327454},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5734000205993652},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5382999777793884},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4945000112056732},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4043000042438507},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39410001039505005},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.384799987077713},{"id":"https://openalex.org/C2776207758","wikidata":"https://www.wikidata.org/wiki/Q5303302","display_name":"Downstream (manufacturing)","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35899999737739563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33320000767707825},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C143299363","wikidata":"https://www.wikidata.org/wiki/Q900584","display_name":"Attribution","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28540000319480896},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26600000262260437},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.03385","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03385","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.2606.03385","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03385","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":[{"score":0.4828951954841614,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"robotic":[1],"manipulation,":[2,26],"the":[3,13,50,95,118,138,152],"tight":[4],"coupling":[5],"between":[6],"grasping":[7,96],"and":[8,43,69,102,109,129,144,147,160],"motion":[9,46],"planning":[10,47,119,134],"often":[11],"obscures":[12],"true":[14],"source":[15],"of":[16],"failure,":[17],"leading":[18],"to":[19,66,111,131],"inefficient":[20],"trial-and-error.":[21],"To":[22],"enable":[23],"efficient":[24],"long-horizon":[25],"we":[27,58,85,98,121],"propose":[28],"GTP-FA":[29,150],"(Grasp-Then-Plan":[30],"with":[31],"Failure":[32],"Attribution),":[33],"a":[34,54,60,71,91],"task-oriented":[35],"two-stage":[36],"grasp-then-plan":[37],"framework":[38,140],"that":[39,64,149],"generates":[40],"grasp":[41,106],"candidates":[42],"performs":[44],"downstream":[45],"conditioned":[48],"on":[49,81,94,117],"selected":[51],"grasp.":[52],"Given":[53],"failed":[55],"manipulation":[56],"trajectory,":[57],"learn":[59],"failure":[61,75],"attribution":[62,83],"model":[63],"generalizes":[65],"unseen":[67],"grasps":[68],"produces":[70],"stable":[72],"distribution":[73],"over":[74],"modes":[76],"for":[77],"diagnosis-guided":[78],"optimization.":[79],"Based":[80],"these":[82],"results,":[84],"then":[86],"optimize":[87],"both":[88,142],"modules":[89],"in":[90,141],"diagnosis-driven":[92],"manner:":[93],"side,":[97,120],"inject":[99],"task-level":[100],"priors":[101],"risk":[103],"penalties":[104],"into":[105],"candidate":[107],"scoring":[108],"optimization":[110],"suppress":[112],"unstable":[113],"or":[114],"task-incompatible":[115],"grasps;":[116],"target":[122],"high-risk":[123],"initial":[124],"states":[125],"through":[126],"data":[127],"collection":[128],"fine-tuning":[130],"address":[132],"genuine":[133],"bottlenecks.":[135],"We":[136],"evaluate":[137],"proposed":[139],"simulation":[143],"real-robot":[145],"experiments,":[146],"show":[148],"improves":[151],"corresponding":[153],"base":[154],"learners":[155],"across":[156],"RL,":[157],"IL,":[158],"diffusion-policy,":[159],"VLA-based":[161],"settings,":[162],"achieving":[163],"substantially":[164],"higher":[165],"overall":[166],"task":[167],"success":[168],"rates.":[169]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-04T00:00:00"}