# CoreSense: Traceable Failure Recall and Conflict-Aware Belief Gating for Auditable Robot Decisions

arXiv: https://arxiv.org/abs/2609.19512 · HTML: https://mlsanity.com/paper/2609.19512/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 11 references that are in the map.
- First posted on arXiv 17 Sep 2026.

## Builds on (most cited first, 6 of 6)

- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation](https://mlsanity.com/paper/2410.00371/) (2024)
- [ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulation](https://mlsanity.com/paper/2303.16382/) (2023)
- [Diagnose, Correct, and Learn from Manipulation Failures via Visual Symbols](https://mlsanity.com/paper/2512.02787/) (2025)
- [Failure Identification in Imitation Learning Via Statistical and Semantic Filtering](https://mlsanity.com/paper/2604.13788/) (2026)

## Built on by (most cited first, 1 of 1)

- [In-Context Learning for Robots: Methods and Applications](https://mlsanity.com/paper/2609.36012/) (2026)

## Abstract (arXiv)

Robots can recall prior failures without knowing whether recalled evidence remains valid, conflicts with current observations, or is sufficient to guide a decision. We present CoreSense, a robot-system integration architecture that combines traceable episodic evidence with a conflict-aware belief gate and bounded, auditable recommendations. The gate checks scope, provenance, time, contradiction, and support before it permits PROCEED, requests re-observation, abstains, or escalates. Evaluation follows three complementary layers without commanding a physical robot: offline public real-robot data, a frozen signal-level simulation, and a live cloud deployment path. On CableTrace-120 and BotFails-200, belief gating reduces protocol-defined unsafe proceeds from 20% and 40% to 0%. A disjointly calibrated raw-video policy also reaches 0% unsafe proceed, but overblocks every nominal episode. On public data, a ViFailback-BotFails visual detector reaches 0.778 AUROC yet remains all-blocking, whereas cycle-disjoint UR3 telemetry for protective stops yields 0% unsafe proceed, 36.1% overblocking, and 61.9% coverage; grip-loss transfer remains a negative result. Controlled physical corroboration yields 3.3%, 0%, and 42.0%, while conflict-aware fusion yields 4.7%, 0%, and 42.8%. Finally, 20/20 cloud recalls validate a CockroachDB Cloud-Amazon Bedrock deployment path. The evidence supports an auditable integration pattern, not autonomous recovery or certified safety.