arxivcs.ROcs.AI2026-07-18
PREFAIL: Identifying Precursors to Failures in Robotic Lift-and-Place Tasks to Improve Task Execution Performance
Zeyu Shangguan, Rajas Chitale, Rutvik Patel, Satyandra K. Gupta, Daniel Seita
Non-prehensile manipulation enables flexible material handling with part carriers, but friction-based support makes high-speed motions failure-prone, while slower operation increases cycle time. Proactive failure prediction is therefore essential for efficient and reliable perfor…