2026
Failure-Aware RL: Reliable Offline-To-Online Reinforcement Learning with Self-Recovery for Real-World Manipulation
ICRA 2026poster
Post-training algorithms based on deep reinforcement learning can push the limits of robotic models for specific objectives, such as generalizability, accuracy, and robustness. However, Intervention-requiring Failures (IR Failures) (e.g., a robot spilling water or breaking fragile glass) during real…