{"id":"https://openalex.org/W7163574931","doi":"https://doi.org/10.48550/arxiv.2606.04970","title":"Plan, Watch, Recover: A Benchmark and Architectures for Proactive Procedural Assistance","display_name":"Plan, Watch, Recover: A Benchmark and Architectures for Proactive Procedural Assistance","publication_year":2026,"publication_date":"2026-06-03","ids":{"openalex":"https://openalex.org/W7163574931","doi":"https://doi.org/10.48550/arxiv.2606.04970"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.04970","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04970","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.2606.04970","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029670387","display_name":"Kaustav Kundu","orcid":"https://orcid.org/0000-0002-1262-4465"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kundu, Kaustav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037746774","display_name":"Ritvik Shrivastava","orcid":"https://orcid.org/0000-0002-0549-2257"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shrivastava, Ritvik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012941142","display_name":"Maxim Arap","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arap, Maxim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039996365","display_name":"Nianyi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Nanshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137826515","display_name":"Xianhui Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Xianhui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016970096","display_name":"Quintin Fettes","orcid":"https://orcid.org/0000-0001-5200-4490"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fettes, Quintin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003334789","display_name":"Gautam Tiwari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tiwari, Gautam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137903719","display_name":"Parth Suresh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suresh, Parth","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015776030","display_name":"Th\u00e9o Moutakanni","orcid":"https://orcid.org/0009-0000-2681-5169"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moutakanni, Th\u00e9o","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137833904","display_name":"Alejandro Castillejo Munoz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Munoz, Alejandro Castillejo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119946713","display_name":"Allen Bolourchi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bolourchi, Allen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137852436","display_name":"Pascale Fung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fung, Pascale","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022168672","display_name":"P\u0131nar D\u00f6nmez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Donmez, Pinar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020194007","display_name":"Babak Damavandi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Damavandi, Babak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137858765","display_name":"Anuj Kumar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Anuj","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137823991","display_name":"Seungwhan Moon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moon, Seungwhan","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7851999998092651,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7851999998092651,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.06159999966621399,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.022600000724196434,"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/benchmark","display_name":"Benchmark (surveying)","score":0.5422999858856201},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5379999876022339},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5236999988555908},{"id":"https://openalex.org/keywords/replication","display_name":"Replication (statistics)","score":0.41280001401901245},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.38850000500679016},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.3019999861717224},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.2973000109195709}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7889999747276306},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5422999858856201},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5379999876022339},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5236999988555908},{"id":"https://openalex.org/C12590798","wikidata":"https://www.wikidata.org/wiki/Q3933199","display_name":"Replication (statistics)","level":2,"score":0.41280001401901245},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.39750000834465027},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34360000491142273},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3066999912261963},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3019999861717224},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C71405471","wikidata":"https://www.wikidata.org/wiki/Q757012","display_name":"Quality management","level":3,"score":0.27649998664855957},{"id":"https://openalex.org/C2780665704","wikidata":"https://www.wikidata.org/wiki/Q959298","display_name":"Intervention (counseling)","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C142944206","wikidata":"https://www.wikidata.org/wiki/Q1786137","display_name":"Proactivity","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2621999979019165},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C2778671685","wikidata":"https://www.wikidata.org/wiki/Q219239","display_name":"Recipe","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.04970","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04970","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.2606.04970","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04970","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":[{"id":"https://metadata.un.org/sdg/16","score":0.49706098437309265,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,54],"envision":[1],"a":[2,14,64,93,99,114],"proactive":[3,69],"multi-modal":[4],"assistant":[5],"system":[6,136],"which":[7,46],"gives":[8],"users":[9,47],"real-time":[10],"step-by-step":[11],"guidance":[12,175],"on":[13,126,179],"procedural":[15,70,105],"task,":[16],"autonomously":[17],"deciding":[18],"\\textit{when}":[19],"to":[20,24],"interrupt,":[21],"and":[22,77,109,128,150,176],"\\textit{how}":[23],"coach.":[25],"However,":[26],"progress":[27],"is":[28,167],"limited":[29],"by":[30,123],"the":[31,42,50,169],"absence":[32],"of":[33],"large-scale,":[34],"cross-domain":[35],"benchmarks":[36,84],"that":[37,117],"reflect":[38],"realistic":[39],"conditions,":[40],"particularly":[41],"common":[43],"case":[44],"in":[45],"deviate":[48],"from":[49],"expected":[51],"step":[52],"sequence.":[53],"address":[55],"this":[56],"gap":[57],"with":[58,72],"four":[59],"contributions:":[60],"\\textbf{(1)}~we":[61],"release":[62],"\\textbf{EgoProactive},":[63],"large-scale":[65],"wearable-egocentric":[66],"dataset":[67],"for":[68,104],"assistance":[71],"explicit":[73],"Out-of-Plan":[74,180],"(OOP)":[75],"annotations":[76],"recovery":[78,110],"steps;":[79],"\\textbf{(2)}~we":[80],"augment":[81],"five":[82],"established":[83],"(Ego4D,":[85],"EPIC-KITCHENS,":[86],"EgoExo4D,":[87],"HoloAssist,":[88],"HowTo100M)":[89],"into":[90],"\\textbf{Pro\\textsuperscript{2}Bench}":[91],"under":[92],"unified":[94],"proactive-guidance":[95],"schema;":[96],"\\textbf{(3)}~we":[97],"propose":[98],"\\textbf{decoupled":[100],"planner--interaction":[101],"architecture}":[102],"specialized":[103],"state,":[106],"visual":[107],"cues,":[108],"injection;":[111],"\\textbf{(4)}~we":[112],"introduce":[113],"post-training":[115],"recipe":[116],"transfers":[118],"across":[119,155],"model":[120,172],"families,":[121],"validated":[122],"cross-backbone":[124],"replication":[125],"Llama~4":[127],"Qwen-3.6-VL.":[129],"In":[130],"extensive":[131],"experiments,":[132],"our":[133],"trained":[134,170],"Llama-4":[135],"substantially":[137],"improves":[138],"objective":[139],"intervention":[140],"quality":[141,166],"over":[142],"strong":[143],"proprietary":[144],"baselines":[145,152,154],"(Claude":[146],"Opus~4.6,":[147],"Gemini~3.1~Pro,":[148],"GPT~5.2)":[149],"open-weight":[151],"(Qwen3~VL~235B)":[153],"all":[156],"six":[157],"datasets.":[158],"Oracle-plan":[159],"experiments":[160],"further":[161],"show":[162],"that,":[163],"when":[164],"plan":[165],"controlled,":[168],"duplex":[171],"produces":[173],"high-quality":[174],"large":[177],"gains":[178],"recovery.":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-05T00:00:00"}
