{"paper":{"title":"Making VLMs More Robot-Friendly: Self-Critical Distillation of Low-Level Procedural Reasoning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhishek Gupta, Chan Young Park, Dipika Khullar, Jillian Fisher, Marius Memmel, Seoho Yun, Yejin Choi","submitted_at":"2025-07-11T00:17:08Z","abstract_excerpt":"Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward more perceptually grounded plans, but current methods either rely on expensive, large-scale models or are constrained to narrow simulation settings. We introduce SelfReVision, a lightweight and scalable self-improvement framework for vision-language procedural planning. SelfReVision enables small VLMs to iteratively critique, revise, and verify their own plans"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.08224","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.08224/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}