AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation

Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo
April, 2025
Paper Website
Type
Conference paper
Publication
ICLR 2025
Jiafei Duan
Jiafei Duan
Incoming Presidential Young Professor at NUS
Nishanth Kumar
Nishanth Kumar
AI Research Scientist at Meta Robotics Studio
Wentao Yuan
Wentao Yuan
UW
Dieter Fox
Dieter Fox
Director
Ajay Mandlekar
Ajay Mandlekar
Yijie Guo
Yijie Guo