VLA-Corrector: Stage-Aware Observable State Understanding for Prompt-Based Closed-Loop Recovery of Vision-Language-Action Policies

VLA-Corrector: Stage-Aware Observable State Understanding for Prompt-Based Closed-Loop Recovery of Vision-Language-Action Policies

|Authors: Chang Song, Bin Qian, Yan Feng, Zhijie Song

|Venue: arXiv preprint | Year: 2026

|arXiv: 2609.06508v1

Abstract

Long-horizon robot manipulation with Vision-Language-Action (VLA) policies remains vulnerable to execution-time deviations, as final task success provides little information for diagnosing and correcting failures caused by action noise, object displacement, or goal misalignment. We introduce a stage-aware failure verification and Prompt Recovery framework that enables closed-loop correction of a fixed VLA policy without parameter updates or privileged simulator states. The framework introduces an observable-history-based Learned Verifier that jointly estimates manipulation progress and execution risk by temporally modeling multi-view visual observations, proprioceptive states, and executed actions. To provide interpretable task understanding, we represent manipulation execution through semantic progress stages, including approach, alignment, grasp, transport, and placement, and identify stage-specific failure patterns. Upon detecting abnormal execution, the framework preserves the original instruction and generates a stage-conditioned recovery prompt, allowing the same frozen VLA policy to produce corrective actions. Extensive multi-round evaluations on LIBERO and LIBERO Plus demonstrate that the proposed approach substantially improves closed-loop reliability under diverse perturbations. Without access to privileged object or goal coordinates, the Learned Verifier achieves recovery performance close to that of the privileged rule-based verifier in the evaluated settings. These results show that observable visual-proprioceptive-action history is sufficient to infer latent task states and enable practical failure recovery for existing VLA policies.

Key Contributions

• Long-horizon robot manipulation with Vision-Language-Action (VLA) policies remains vulnerable to …
• We introduce a stage-aware failure verification and Prompt Recovery framework that enables closed…
• The framework introduces an observable-history-based Learned Verifier that jointly estimates mani…
• To provide interpretable task understanding, we represent manipulation execution through semantic…
• Upon detecting abnormal execution, the framework preserves the original instruction and generates…

Topics

• manipulation
• vision
• vla
• reinforcement-learning
• benchmark

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Song2026_260906508v1,
  title     = {VLA-Corrector: Stage-Aware Observable State Understanding for Prompt-Based Closed-Loop Recovery of Vision-Language-Action Policies},
  author    = {Chang Song and Bin Qian and Yan Feng and Zhijie Song},
  year      = {2026},
  eprint    = {2609.06508v1},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2609.06508v1}
}