{"ID":3005115,"CreatedAt":"2026-06-03T03:09:48.883664427Z","UpdatedAt":"2026-06-05T07:50:16.0004273Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.03385","arxiv_id":"2606.03385","title":"Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation","abstract":"In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage grasp-then-plan framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.","short_abstract":"In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage grasp-then-plan frame...","url_abs":"https://arxiv.org/abs/2606.03385","url_pdf":"https://arxiv.org/pdf/2606.03385v1","authors":"[\"Jiahao Xu\",\"Peiyuan Wang\",\"Hanzhuo Zhang\",\"Zihao Yu\",\"Tianyu Fu\",\"Hao Chen\",\"Xuanhao Xiang\",\"Jianbo Yu\",\"Chenchen Fu\",\"Wanyuan Wang\"]","published":"2026-06-02T09:29:03Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\"]","methods":"[\"Diffusion Model\"]","has_code":false}