ReCAPA: Hierarchical Predictive Correction to Mitigate Cascading Failures

Xiyin Zeng, Yuyu Sun, Haoyang Li, Shouqiang Liu, Hao Wang

Keywords: Vision-language-action, embodied agent, large language models, Long-Horizon Planning

Abstract: Vision–Language–Action (VLA) systems follow instructions to execute multi-step tasks in multimodal environments. Recent VLA approaches typically rely on post-hoc correction mechanisms or operate under fixed task decompositions and alignment schemes. However, once an intermediate step is mis-specified, local errors propagate through subsequent steps and eventually accumulate into cascading failures. To mitigate this compounding effect, we propose Predictive Alignment and Planning Architecture (ReCAPA), a framework that uses prediction and contrast to adjust deviations across three levels: actions, subgoals, and trajectories. Semantic alignment is enforced at all levels using a Sinkhorn-based module and a Score-field module. The predictive correction and alignment, jointly updates the action-generator in the training phase, enabling it to adjust fine-grained steps to remain aligned with the overall intent. We further introduce two new metrics to quantify error propagation and recovery processes in tasks, capturing how mistakes spread and fade over long-horizon execution. Experiments show that ReCAPA achieves competitive results on embodied agent benchmarks such as VisualAgentBench, MineDojo, and AI2-THOR, outperforming strong proprietary and open-source Large Language Model (LLM) baselines.

Primary Area: generative models

Submission Number: 9075