HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
- Published
- Source
- arXiv
- Paper number
- 315
- Field
- Robotics
- arXiv ID
- 2606.05143
Key points
- In on-policy learning, a new dynamic is useful only when it stays close enough to the current policy to generate corrective on-policy data instead of collapsing rollouts into irreversible failure.
- Using quadruped locomotion as a physically challenging benchmark for embodied generalization, the paper introduces HORIZON, a checkpoint-based frontier curriculum that expands the physical domain only within the recoverability boundary of the current policy.
- Taken together, the results frame physical-domain generalization as a continual-growth problem for embodied control and make recoverability the organizing principle for on-policy scaling.
Paper links
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