Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation

arXiv:2606.03385 · cs.RO, cs.AI · Submitted 2026-06-02 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-06-02

Updated: 2026-10-27

Terminology

• Failure Attribution — 3× in this paper · explained in 2 episodes
• Grasp-Then-Plan with Failure Attribution — 2× in this paper
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes

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