Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis

Dayou Li¹, Jiuzhou Lei¹, Hao Wang¹, Lulin Liu^1,2, Yunhao Yang³

Zihan Wang⁴, Bangya Liu⁵, Minghui Zheng¹, Zhiwen Fan¹

¹Texas A&M University ²University of Minnesota ³University of Texas at Austin ⁴Abaka AI ⁵University of Wisconsin-Madison

ArXiv Code (coming soon)

Interactive Failure Explorer

Select an instruction in each feature type block to compare failed execution and GT success, then inspect its label.

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