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Policy adaptation of ROMAN during failures in pick and place subtasks. These intermediate failures are attributed to either an expert or a gating network error. In these instances, we show infrequent error cases (t = 1) of these experts, which, however, quickly re-adapt and regrasp the items (t = 2 to t = 4) to successfully complete the sequence. Most notably, this can be due to a combination of incorrect grasping of objects, expert trajectories or activation of sequences.

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