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Published at December 5

Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection

cs.RO

cs.AI

cs.CV

cs.LG

Released Date: December 5, 2024

Authors: Enshen Zhou¹, Qi Su², Cheng Chi³, Zhizheng Zhang⁴, Zhongyuan Wang, Tiejun Huang, Lu Sheng, He Wang

Aff.: ¹Beihang University; ²Peking University; ³Beijing Academy of Artificial Intelligence; ⁴Galbot

Arxiv: http://arxiv.org/pdf/2412.04455v1

[Uncaptioned image]

Tasks with		Success Rate(%) $\uparrow$				Execution Time(s) $\downarrow$
disturbance		CP	+IM	+DRM	+Ours	+IM	+DRM	+Ours
Stack in	$p$ =0.0	100.0	100.0	100.0	100.0	13.4	13.4	13.4
order with	$p$ =0.15	56.67	81.67	83.33	95.00	34.8	26.00	21.0
drop $p$	$p$ =0.3	21.67	75.00	76.67	88.33	42.8	34.20	25.4
Stack in	$q$ =1	90.00	90.00	96.67	98.33	24.8	24.6	24.2
order with	$q$ =2	41.67	71.67	75.00	83.33	39.4	37.0	29.2
noise $q$	$q$ =3	15.00	40.00	40.00	63.33	58.2	54.2	36.8
Sweep Half the Blocks		0.00	18.33	16.67	75.00	22.0	16.6	16.4