@article{failureforecastingboostsrobustnessof,
  title = {Failure Forecasting Boosts Robustness of Sim2Real Rhythmic Insertion Policies},
  author = {YuHan Liu and Xinyu Zhang and Haonan Chang and Abdeslam Boularias},
  year = {2025},
  eprint = {2507.06519},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.06519v1},
}