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Sequential Recovery Updates for Learned Controllers under Successful-Trajectory Preservation — arXiv:2611.02555

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.02555
License (as archived): CC0-1.0
Archived: 2026-11-03T10:28:18.237Z
SHA-256 of the archived text: c96330cb43d676e746cd14f73054a6d795ae1442e0d84f9932e6fe07e7f9063e
Stable URL of this page: https://metraipolis.com/documento/dc_bbd30ef9c4eb

How to cite

Sequential Recovery Updates for Learned Controllers under Successful-Trajectory Preservation — arXiv:2611.02555 — arXiv (en), https://arxiv.org/abs/2611.02555 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_bbd30ef9c4eb (Metraipolis archive dc_bbd30ef9c4eb, sha256 c96330cb43d676e746cd14f73054a6d795ae1442e0d84f9932e6fe07e7f9063e)

BibTeX

@misc{dcbbd30ef9c4eb,
  title = {Sequential Recovery Updates for Learned Controllers under Successful-Trajectory Preservation — arXiv:2611.02555},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.02555},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_bbd30ef9c4eb; sha256 c96330cb43d676e746cd14f73054a6d795ae1442e0d84f9932e6fe07e7f9063e},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.02555. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

A competent learned controller already recovers from many disturbances. Improving it means learning a correction, and learning when not to apply it. Freezing a skill's parameters does not settle the second half. In a controller that routes among frozen skills, a new entry rule can redirect the states an old skill succeeded on. We therefore constrain entry instead of parameters. Each update searches for a feedback skill at a measured failure. It fits an entry rule that reads observations and rejects every state on an accumulated successful trajectory. The skill is admitted only if the composed controller reproduces the new recovery on its own and replays every protected trajectory exactly. A finite-trajectory condition states when this preserves the previous controller. One mechanism runs on four streams: two motions on each of two humanoid systems. Two updates per stream add 62 recoveries over 192 withheld perturbations, and lose none of the base controller's successes. We then price that guarantee. Removing the constraint recovers 33 more conditions but stops eight protected ones from completing at all, and excluding only what admission proves necessary recovers none of that cost.

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.AI, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Artificial Intelligence (cs.AI).
Pagina del lavoro: https://arxiv.org/abs/2611.02555 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-03T10:19:50.186Z dalla pagina https://arxiv.org/list/cs.AI/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).