Diagnosing and Recovering from Observation-Space Shift at Long-Horizon Skill Seams
Long-horizon robotic tasks fail when skills are chained because they suffer from Observation-Space Shift (OSS). The authors found this shift is primarily caused by displaced scene state, like open drawers left behind by previous actions, not robot movement. They developed a detect-restore-resume system that recovers these failures 3.5x better than existing methods on benchmark tasks.