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Published at December 5Code-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
![[Uncaptioned image]](https://arxiv.org/html/2412.04455v1/x1.png)
| Tasks with | Success Rate(%) | Execution Time(s) | ||||||
| disturbance | CP | +IM | +DRM | +Ours | +IM | +DRM | +Ours | |
| Stack in | =0.0 | 100.0 | 100.0 | 100.0 | 100.0 | 13.4 | 13.4 | 13.4 |
| order with | =0.15 | 56.67 | 81.67 | 83.33 | 95.00 | 34.8 | 26.00 | 21.0 |
| drop | =0.3 | 21.67 | 75.00 | 76.67 | 88.33 | 42.8 | 34.20 | 25.4 |
| Stack in | =1 | 90.00 | 90.00 | 96.67 | 98.33 | 24.8 | 24.6 | 24.2 |
| order with | =2 | 41.67 | 71.67 | 75.00 | 83.33 | 39.4 | 37.0 | 29.2 |
| noise | =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 | |