Author

Mohammad Hajiha

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Jul 2026

Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling

FoMo-FD (Flow-Matching World Model for Failure Detection), a failure detection method that learns nominal short-horizon visual dynamics with an action-conditioned flow-matching world model, outperforms observation-level anomaly baselines and a prediction-error variant of the same world model.

Zhefeng Huang, Yi-Lin Cai, Ankit B. Patel et al. · arXiv.org · 3 citations