Preprint
Sep 2026
RAYA: Learning Where and When to Intervene for Robot Recovery
A robot can predict failure and still be unable to prevent it. By the time a safety mechanism reacts, the nominal plan may already have spent the control authority that recovery requires, and fixed task priorities may block whatever response remains. Our key insight is that both aspects are decided inside the controlle...
Ishaan Mahajan, Charles Chen, F. Dümbgen et al.
· 0 citations