Kintsugi-VLA: Turning Failed Robot Rollouts into Recovery Data through Interventional Recoverability

arXiv:2609.31048 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Calibration — 9× in this paper · explained in 7 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• Back to the Familiar Future: Failure Recovery for VLA Policies via Pre-Imagined Milestone Selection
• LIBERO-RECOVER: Beyond Task Success Towards Failure Recovery in Robotic Manipulation Models
• RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction

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