ReSYNC learns recovery skills via RL then discovers and refines relational predicates to enable abstract planning that generalizes failure avoidance to unseen long-horizon tasks, outperforming baselines by over 50% in simulation and transferring to real robots.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Flow Reversal Steering steers flow matching generalist policies by reversing suboptimal actions to nearby better modes, enabling improved zero-shot control, quick distillation, and RL bootstrapping in robotic manipulation.
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Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures
ReSYNC learns recovery skills via RL then discovers and refines relational predicates to enable abstract planning that generalizes failure avoidance to unseen long-horizon tasks, outperforming baselines by over 50% in simulation and transferring to real robots.
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Improving Robotic Generalist Policies via Flow Reversal Steering
Flow Reversal Steering steers flow matching generalist policies by reversing suboptimal actions to nearby better modes, enabling improved zero-shot control, quick distillation, and RL bootstrapping in robotic manipulation.