نسخة أولية وصول مفتوح
PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation
Pretrained robotic policies can suffer substantial performance degradation under out-of-distribution (OOD) conditions encountered during deployment, motivating post-training through real-world interaction. However, reinforcement-learning (RL)-based post-training typically requires substantial environment interactions, …