AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation - Duan, Jiafei; Pumacay, Wilbert; Kumar, Nishanth; Wang, Yi Ru; Tian, Shulin; Yuan, Wentao; Krishna, Ranjay; Fox, Dieter; Mandlekar, Ajay; Guo, Yijie (International Conference on Learning Representations, 2025)