In this paper, we are interested in the existence of Pareto solutions to vector polynomial optimization problems over a basic closed semi-algebraic set. By invoking some powerful tools from real semi-algebraic geometry, we first introduce the concept called {it tangency varieties}; then we establish connections of the Palais--Smale condition, Cerami condition, {it M}-tameness, and properness related to the considered problem, in which the condition of regularity at infinity plays an essential role in deriving these connections. According to the obtained connections, we provide some sufficient conditions for existence of Pareto solutions to the problem in consideration, and we also give some examples to illustrate our main findings.
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