arxivcs.ROcs.AIcs.LG2026-07-01
FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
Haoran Hao, Shahram Najam Syed, Jeffrey Ichnowski, Jeff Schneider
Robot policies inevitably encounter failures when deployed in real environments. Naive retries often repeat the same mistakes, while many existing recovery methods rely on human intervention. In this paper, we propose Failure-Aware Retry (FAR), a framework that enables robots to…