mlsanityData to 7 Oct 2026

FPC-VLA: A Vision-Language-Action Framework with a Supervisor for Failure Prediction and Correction

arXiv 2509.04018 ↗First posted 4 Sep 2025cs.ROcited by 21

On the map: Vision-language-action models → Failure recovery and robustness

Abstract (arXiv)

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end Vision-Language-Action (VLA) offers promising capabilities but lacks crucial mechanisms for anticipating and recovering from failure. To address these challenges, we propose FPC-VLA, a dual-model framework that integrates VLA with a supervisor for failure prediction and correction. The supervisor evaluates action viability through vision-language queries and generates corrective strategies when risks arise, trained efficiently without manual labeling. A dual-stream fusion module further refines actions by leveraging past predictions. Evaluation results on multiple simulation platforms (SIMPLER and LIBERO) and robot embodiments (WidowX, Google Robot, Franka) show that FPC-VLA outperforms state-of-the-art models in both zero-shot and fine-tuned settings. Successful real-world deployments on diverse, long-horizon tasks confirm FPC-VLA's strong generalization and practical utility for building more reliable autonomous systems.

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). Placed in Failure recovery and robustness, one of 13 directions in Vision-language-action models. Builds on 33 of its 49 references that are in the map. First posted on arXiv 4 Sep 2025.

Builds on

33 of 49 references.

Closest ancestors · 1

Same direction, newest first

  1. 2025RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction18 May

Other references · 32

  1. 2023Llama 2: Open Foundation and Fine-Tuned Chat Modelscited by 12,865
  2. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,764
  3. 2025Qwen2.5-VL Technical Reportcited by 5,418
  4. 2023Improved Baselines with Visual Instruction Tuningcited by 4,362
  5. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  6. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  7. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  8. 2025InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Modelscited by 1,769
  9. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  10. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  11. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  12. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
20 more
  1. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 849
  2. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  3. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  4. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  5. 2025CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Modelscited by 440
  6. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  7. 2024DeepSeek-Coder-V2: Breaking the Barrier of Closed-Source Models in Code Intelligencecited by 325
  8. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 298
  9. 2025ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planningcited by 152
  10. 2024Yell At Your Robot: Improving On-the-Fly from Language Correctionscited by 123
  11. 2024AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulationcited by 118
  12. 2024GRAPE: Generalizing Robot Policy via Preference Alignmentcited by 106
  13. 2024RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learningcited by 46
  14. 2025Phoenix: A Motion-based Self-Reflection Framework for Fine-grained Robotic Action Correctioncited by 16
  15. 2025EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignmentcited by 6
  16. 2024Observe Then Act: Asynchronous Active Vision-Action Model for Robotic Manipulationcited by 4
  17. 2025MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learningcited by 4
  18. 2024PS6D: Point Cloud Based Symmetry-Aware 6D Object Pose Estimation in Robot Bin-Pickingcited by 3
  19. 2024Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environmentscited by 1
  20. 2025FDBPL: Faster Distillation-Based Prompt Learning for Region-Aware Vision-Language Models Adaptationcited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 5; 2026: 16.

21 papers.

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By area:

  1. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
  2. 2026ACoT-VLA: Action Chain-of-Thought for Vision-Language-Action Modelscited by 30
  3. 2025Verifier-free Test-Time Sampling for Vision-Language-Action Modelscited by 21
  4. 2026CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decodingcited by 13
  5. 2026SimVLA: A Simple VLA Baseline for Robotic Manipulationcited by 10
  6. 2025Guardian: Detecting Robotic Planning and Execution Errors with Vision-Language Modelscited by 8
  7. 2026From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulationcited by 6
  8. 2025An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challengescited by 4
  9. 2026FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulationcited by 4
  10. 2025EVE: A Generator-Verifier System for Generative Policiescited by 2
  11. 2026AEGIS: A Backup Reflex for Physical AIcited by 2
  12. 2026VLAFlow: A Unified Training Framework for Vision-Language-Action Models via Co-training and Future Latent Alignmentcited by 2
9 more
  1. 2026CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Modelscited by 2
  2. 2026PhysReflect-VLA: Physical Feasibility and Self-Reflective Regulation for Reliable Vision-Language-Action Policiescited by 1
  3. 2026A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoringcited by 0
  4. 2026CrossVLA: Cross-Paradigm Post-Training and Inference Optimization for Vision-Language-Action Modelscited by 0
  5. 2026Teaching Tiny VLA Models Where to Look and How to Movecited by 0
  6. 2026Security of Foundation-Model-Powered Embodied Agents: Attack Surfaces, Attacks, Defenses, and Evaluationcited by 0
  7. 2026One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulationcited by 0
  8. 2026CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policiescited by 0
  9. 2026FailPatch: Failure Residual Patching for Vision-Language-Action Modelscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
  2. 2026Failing Forward: Adaptive Failure-Informed Learning for Vision-Language-Action Models
  3. 2026ReconVLA: An Uncertainty-Guided and Failure-Aware Vision-Language-Action Framework for Robotic Control
  4. 2026RoboBRIDGE: A Modular Framework for Bridging Policies to Robust Real-World Robotic Agents
  5. 2026VLA-Corrector: Stage-Aware Observable State Understanding for Prompt-Based Closed-Loop Recovery of Vision-Language-Action Policies
  6. 2025FailSafe: Reasoning and Recovery from Failures in Vision-Language-Action Models
  7. 2026VLA-FAIL: Efficient Task Failure Detection for Finetuned Vision-Language-Action Models
  8. 2026Learning from Runtime Feedback through Failure-Bank Self-Evolution for Vision-Language-Action Models