RC-NF: Robot-Conditioned Normalizing Flow for Real-Time Anomaly Detection in Robotic Manipulation

ArXi:2603.11106v1 Announce Type: new Recent advances in Vision-Language-Action (VLA) models have enabled robots to execute increasingly complex tasks. However, VLA models trained through imitation learning struggle to operate reliably in dynamic environments and often fail under Out-of-Distribution (OOD) conditions. To address this issue, we propose Robot-Conditioned Normalizing Flow (RC-NF), a real-time monitoring model for robotic anomaly detection and intervention that ensures the robot's state and the object's motion trajectory align with the task.