Abstract
Vision-Language-Action (VLA) policies achieve strong performance in robotic manipulation but remain brittle once execution deviates from nominal trajectories. We propose CARE (Corrective Atomic Robotic Execution), a framework that improves recovery by learning from failures encountered during execution. Instead of generating corrective data from manually designed or random perturbations, CARE collects failed rollouts, models stage-conditioned post-failure deviations, and uses the resulting empirical distributions to synthesize representative failure states and corrective demonstrations. At inference time, CARE combines stage-wise planning with physically grounded 3D monitoring to trigger atomic adjustments or re-operations while preserving task progress. We further introduce the Failure State Recovery Benchmark (FSR-Bench), which evaluates recovery from intermediate failure states under local deviations and structural anomalies. Experiments across multiple VLA backbones, simulation benchmarks, and real-world dual-arm tasks show consistent improvements, with average task-success gains of 14.5 points in simulation and 15.9 points in the real world. Code, models, and data are available at https://github.com/xiaojunlan/care
Keywords
Publication details
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- Green open access
Cite this article
APA 7
Xiao, J., Jiang, J., Zhang, Z., Wang, Y., Zhang, Z., Lu, H., & Wang, L. (2026). CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies. https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies
MLA 9
Xiao, Junlan, et al. "CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies." https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies.
Chicago (author–date)
Xiao, Junlan, Junwei Jiang, Zaibin Zhang, Yifan Wang, Zhongbo Zhang, Huchuan Lu, and Lijun Wang. 2026. "CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies." https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies.
Harvard
Xiao, J., Jiang, J., Zhang, Z., Wang, Y., Zhang, Z., Lu, H. and Wang, L. (2026) 'CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies', Available at: https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies.
Vancouver
Xiao J, Jiang J, Zhang Z, Wang Y, Zhang Z, Lu H, et al. CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies. https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies
IEEE
J. Xiao, J. Jiang, Z. Zhang, Y. Wang, Z. Zhang, H. Lu, and L. Wang, "CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies," https://omanscience.com/en/articles/care-experience-guided-atomic-corrective-execution-for-vision-language-action-policies.