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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Loris Schneider

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Preprint Sep 2026

RAFAIL: Relationship-Aware Failure Detection for Robotic Manipulation

Detecting failures during execution is essential for reliable robotic manipulation. Vision-language models (VLMs) can assess task outcomes semantically but add runtime computation, whereas out-of-distribution (OOD) detectors may respond to harmless scene variations rather than failure-relevant deviations. We introduce...

Loris Schneider, Edgar Welte, R. Rayyes · 0 citations

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