# RoboReflect: A Robotic Reflective Reasoning Framework for Grasping Ambiguous-Condition Objects

arXiv: https://arxiv.org/abs/2501.09307 · HTML: https://mlsanity.com/paper/2501.09307/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 15 of its 24 references that are in the map.
- First posted on arXiv 16 Jan 2025.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 15 of 15)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Vision-Language Foundation Models as Effective Robot Imitators](https://mlsanity.com/paper/2311.01378/) (2023)
- [3D-VLA: A 3D Vision-Language-Action Generative World Model](https://mlsanity.com/paper/2403.09631/) (2024)
- [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://mlsanity.com/paper/2409.01652/) (2024)
- [Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners](https://mlsanity.com/paper/2307.01928/) (2023)
- [REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction](https://mlsanity.com/paper/2306.15724/) (2023)
- [Yell At Your Robot: Improving On-the-Fly from Language Corrections](https://mlsanity.com/paper/2403.12910/) (2024)
- [Corex: Pushing the Boundaries of Complex Reasoning through Multi-Model Collaboration](https://mlsanity.com/paper/2310.00280/) (2023)
- [LLM-based Robot Task Planning with Exceptional Handling for General Purpose Service Robots](https://mlsanity.com/paper/2405.15646/) (2024)
- [Toward Automated Programming for Robotic Assembly Using ChatGPT](https://mlsanity.com/paper/2405.08216/) (2024)

## Built on by (most cited first, 4 of 4)

- [RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction](https://mlsanity.com/paper/2505.12224/) (2025)
- [PROGRESSLM: Towards Progress Reasoning in Vision-Language Models](https://mlsanity.com/paper/2601.15224/) (2026)
- [Humanizing Machines: Rethinking LLM Anthropomorphism Through a Multi-Level Framework of Design](https://mlsanity.com/paper/2508.17573/) (2025)
- [VISOR: A Vision-Language Model-based Test Oracle for Testing Robots](https://mlsanity.com/paper/2605.10408/) (2026)

## Abstract (arXiv)

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of robotics still faces many challenges, leading to frequent errors. Traditional methods and some LLM-based approaches, although improved, still require substantial human intervention and struggle with autonomous error correction in complex scenarios. In this work, we propose RoboReflect, a novel framework leveraging large vision-language models (LVLMs) to enable self-reflection and autonomous error correction in robotic grasping tasks. RoboReflect allows robots to automatically adjust their strategies based on unsuccessful attempts until successful execution is achieved. The corrected strategies are saved in the memory for future task reference. We evaluate RoboReflect through extensive testing on eight common objects prone to ambiguous conditions of three categories. Our results demonstrate that RoboReflect not only outperforms existing grasp pose estimation methods like AnyGrasp and high-level action planning techniques ReKep with GPT-4V but also significantly enhances the robot's capability to adapt and correct errors independently. These findings underscore the critical importance of autonomous self-reflection in robotic systems while effectively addressing the challenges posed by ambiguous-condition environments.