FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement

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• 2026.9.4 FAR has been accepted to CoRL 2026!🎉🎉

Failure-Aware Retry

After a failure, FAR identifies failure-inducing actions using value estimation, then updates the policy with both failure examples and alternative positive examples. The collected trajectories are added to the replay buffer for continual policy improvement.

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BibTeX

@misc{hao2026far,
      title={FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement}, 
      author={Haoran Hao and Shahram Najam Syed and Jeffrey Ichnowski and Jeff Schneider},
      year={2026},
      eprint={2607.01111},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2607.01111}, 
}