MAGMA-GEN: Validated Recovery Supervision from Ambiguous Failures via Counterfactual Re-Execution
Hierarchical robotic systems executing long-horizon manipulation tasks must make high-level semantic decisions that orchestrate stochastic low-level skills. In this setting, failed rollouts are ambiguous: a poor downstream state may reflect an invalid high-level decision, partial observation, or a valid decision whose...
Loan Bernat, Matthieu Grard, Ariane Herbulot et al.
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