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上級arXiv

AdaRSI: On-Demand Recursive Self-Improvement for Embodied Agents

Peidong Wang, Ying Chang, Zhiming Ma, Xiaocui Yang, Shi Feng, Daqi Liu, Yuzhe Yang, Xu Cao, Chuang Wang, Jian Su, Daling Wang
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要旨より

Pretrained vision-language-action models (VLAs) often fail midway through unseen long-horizon tasks. Recursive self-improvement (RSI) offers a remedy, but embodied RSI methods either refine the harness around a frozen executor and so cannot add a missing motion, or train the executor on persistent failures without asking whether a failure lies in how the executor is called or in what it can do.

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