Persistent Profile-Guided Reset-Free Recovery Improves Final Gait Selection after Irreversible Leg Damage
Persistent Profile-Guided Reset-Free Recovery (PGRR) improves gait selection after leg damage by learning from repeated execution profiles and using uncertainty estimates to guide online adjustments without resetting the robot. PGRR achieved a 0.106 improvement in final quality and a 0.044 improvement in slot-averaged recovery quality compared to baselines, while significantly reducing low-quality failures across different injury types.