Shi-Yu Sang

EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation

Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current capabilities and failure modes. We introduce EmbodiRSI, an agentic system for recursive self-improvement (RSI) in a real-to-sim-to-real setting,...