2026
Moving On, Even When You’re Broken: Fail-Active Trajectory Generation Via Diffusion Policies Conditioned on Embodiment and Task
Gilberto Briscoe-Martinez, Yaashia Gautam, Rahul Shetty, Anuj Pasricha, Marco Nicotra, Alessandro Roncone
ICRA 2026poster
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks even when damaged. Focusing on 'actuation failures', we introduce DEFT, a diffusion-based trajectory generator conditioned…