RoboRecover: Benchmarking Robot Policy Recovery under Execution Deviations

arXiv:2609.28952 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Benchmark — 23× in this paper · explained in 2 episodes
• Robustness — 7× in this paper · explained in 5 episodes
• Benchmarking — 4× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Overall Recovery Success Rate — 1× in this paper
• Representation Learning — 1× in this paper · explained in 2 episodes
• Structural Similarity Index Measure — 1× in this paper
• Task Decomposition — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Qwen3-VL Technical Report
• LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
• FATE-VLA:Failue-aware test generation for vision-language-action models
• Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
• CorridorVLA: Explicit Spatial Constraints for Generative Action Heads via Sparse Anchors
• Causal World Modeling for Robot Control
• Evaluating Real-World Robot Manipulation Policies in Simulation
• RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
• Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
• Being-H0.7: A Latent World-Action Model from Egocentric Videos
• RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
• A Pragmatic VLA Foundation Model
• Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• Do World Action Models Generalize Better than VLAs? A Robustness Study
• X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

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