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· 2012 · arXiv 2012.13037

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cs.RO 1

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2026 1

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UNVERDICTED 1

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Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures

cs.RO · 2026-06-16 · unverdicted · novelty 7.0

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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  • Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures cs.RO · 2026-06-16 · unverdicted · none · ref 35

    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.