REACH: Explicit Recovery Behavior for Diffusion Policies

Figure 1. REACH is an error-aware framework with prompt-guided diffusion policy for Robot manipulation. A multi-camera setup observes the task execution along the timeline, while an error-detector monitors an anomaly score (bottom). When the score indicates an error, the robot rolls back to a previous safe action and the diffusion model regenerates a corrected prompt, allowing the robotic arm to continue the task and eventually succeed.