{"ID":2874535,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.04018","arxiv_id":"2509.04018","title":"FPC-VLA: A Vision-Language-Action Framework with a Supervisor for Failure Prediction and Correction","abstract":"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.","short_abstract":"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 ant...","url_abs":"https://arxiv.org/abs/2509.04018","url_pdf":"https://arxiv.org/pdf/2509.04018v2","authors":"[\"Yifan Yang\",\"Zhixiang Duan\",\"Tianshi Xie\",\"Fuyu Cao\",\"Pinxi Shen\",\"Peili Song\",\"Piaopiao Jin\",\"Guokang Sun\",\"Shaoqing Xu\",\"Yangwei You\",\"Jingtai Liu\"]","published":"2025-09-04T08:47:26Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}