Spotter: Let the Embodied Model Lead, and the VLM Reflect for It

arXiv:2609.36808 · cs.RO, cs.AI · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/zqc3117/Spotter

Terminology

• Consistency — 10× in this paper · explained in 3 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• World Model — 4× in this paper · explained in 7 episodes
• Benchmarking — 3× in this paper · explained in 4 episodes
• Motion Primitives — 3× in this paper · explained in 2 episodes
• Test-time Scaling — 3× in this paper · explained in 2 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Verifier — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Self-consistency — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Training Verifiers to Solve Math Word Problems
• Gemini Robotics: Bringing AI into the Physical World
• Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
• FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
• FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
• RLDX-1 Technical Report
• Video Generators are Robot Policies
• FailSafe: Reasoning and Recovery from Failures in Vision-Language-Action Models
• Is the Future Compatible? Diagnosing Dynamic Consistency in World Action Models
• Towards the Harness of Embodied Agents
• A Pragmatic VLA Foundation Model
• RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction
• Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
• Experiences from Benchmarking Vision-Language-Action Models for Robotic Manipulation
• Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
• Test-Time Scaling for World Action Models via Zero-Shot Geometric Evaluation
• $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation

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