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ProAct-VLM advances robotic autonomy by embedding Vision-Language Models into a continuous perception loop that enables pre-failure replanning in dynamic environments. This approach overcomes the brittleness of traditional rule-based systems and reactive frameworks, allowing robots to adapt to unexpected changes before execution errors occur. The research demonstrates improved success rates and efficiency for long-horizon manipulation tasks across diverse VLM backbones.
ProAct-VLM: Pre-Failure Vision-Language Task Replanning with Continuous Perception Feedback
arXiv:2609.37681v1 Announce Type: new Abstract: Long-horizon robotic tasks are vulnerable to unexpected environmental changes that can render planned actions ineffective or unsafe. To address this, robots must detect such changes as they occur, interpret their impact, and adjust their actions accordingly. Traditional rule-based decision-making pipelines are brittle in open-world conditions, as they are hand-tuned for specific scenarios and lack generalization. Vision-Language Models (VLMs) offer a promising alternative as they combine broad world knowledge with unified visual--text reasoning, enabling them to generalize across diverse scenarios and generate accurate, grounded task plans. However, for effective deployment in dynamic real-world settings, VLMs must be embedded into frameworks capable of handling uncertainty and environmental changes. Existing frameworks broadly address this reactively, triggering replanning only after execution failures or post-task checks, risking failed actions. Some methods verify conditions before actions, but these discrete checks miss changes occurring during execution. To address this, we present ProAct-VLM, an adaptive, physically grounded task planning framework that integrates VLMs within a real-time perception--feedback loop. ProAct-VLM continuously monitors the environment and re-plans as soon as relevant changes are detected, enabling adaptation before failure occurs. Evaluations against multiple baselines and across different VLM backbones show that our framework improves both success rates and efficiency in dynamic, long-horizon manipulation tasks. Project page: https://github.com/moured/ProAct-VLM
Abstract:Long-horizon robotic tasks are vulnerable to unexpected environmental changes that can render planned actions ineffective or unsafe. To address this, robots must detect such changes as they occur, interpret their impact, and adjust their actions accordingly. Traditional rule-based decision-making pipelines are brittle in open-world conditions, as they are hand-tuned for specific scenarios and lack generalization. Vision-Language Models (VLMs) offer a promising alternative as they combine broad world knowledge with unified visual--text reasoning, enabling them to generalize across diverse scenarios and generate accurate, grounded task plans. However, for effective deployment in dynamic real-world settings, VLMs must be embedded into frameworks capable of handling uncertainty and environmental changes. Existing frameworks broadly address this reactively, triggering replanning only after execution failures or post-task checks, risking failed actions. Some methods verify conditions before actions, but these discrete checks miss changes occurring during execution. To address this, we present ProAct-VLM, an adaptive, physically grounded task planning framework that integrates VLMs within a real-time perception--feedback loop. ProAct-VLM continuously monitors the environment and re-plans as soon as relevant changes are detected, enabling adaptation before failure occurs. Evaluations against multiple baselines and across different VLM backbones show that our framework improves both success rates and efficiency in dynamic, long-horizon manipulation tasks. Project page: this https URL
Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). Project page: this https URL
Robotics (cs.RO)
arXiv:2609.37681 [cs.RO]
(or arXiv:2609.37681v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.37681 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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