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RL policies often stall in failure states, spending up to 70% of an episode immobilized. Rule-based recovery alone is inadequate, and adding heuristic recovery to a pretrained PPO policy worsens rewards because policies cannot coordinate well with unanticipated interventions. The issue is not missing recovery mechanisms but a lack of policies trained to collaborate with them.\n  We introduce CRRL, a causal-guided RL framework that trains policies to work effectively with rule-based recovery. The recovery detects stalled states and assists the agent. Causal relations from driving logs shape the training signal, teaching the policy to anticipate stalls and adjust actions in recovery contexts. The framework follows MAPE-K, with sensor collection, causal model construction, and hybrid RL po","title":"CRRL: A Causality-Based Reinforcement Learning Framework for Autonomous System Recovery","url":"https://arxiv.org/abs/2607.03177","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.03177v1 Announce Type: cross \nAbstract: Traditional reinforcement learning (RL) for recovery in autonomous systems lacks causal understanding and generalizes poorly to novel failure scenarios. RL policies often stall in failure states, spending up to 70% of an episode immobilized. Rule-based recovery alone is inadequate, and adding heuristic recovery to a pretrained PPO policy worsens rewards because policies cannot coordinate well with unanticipated interventions. The issue is not missing recovery mechanisms but a lack of policies trained to collaborate with them.\n  We introduce CRRL, a causal-guided RL framework that trains policies to work effectively with rule-based recovery. The recovery detects stalled states and assists the agent. Causal relations from driving logs shape the training signal, teaching the policy to anticipate stalls and adjust actions in recovery contexts. The framework follows MAPE-K, with sensor collection, causal model construction, and hybrid RL po","title":"CRRL: A Causality-Based Reinforcement Learning Framework for Autonomous System Recovery","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-07T04:43:08Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.03177"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:a267c7a86728570ef04cab59fbc8f8c0b47d690f9dfa3e6594220b66cfa795968f64dc0e0a226d4ea2275df889861bda4638d6a72fc7df8330404db278126a0a","signer":"crovia.substrate","subject":{"observed_at":"2026-07-07T04:43:08Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.03177"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"d50da4e997323bfc8cd353d0b3cf8e5f0169f6d9df98a226ff698a2bb054e681","leaf_index":288904,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a17bcc5f672c313737d92bb935841c7e3a63d2b4e06a35f296a0b1855464b229","side":"right"},{"sibling":"d3c1859797e7fd12aa8d6a5ca757de904308c34e9e873e7268b85544c9e4b0af","side":"right"},{"sibling":"78607d025cea03b97a7ce4c9228e74daaced8e5300a9a2b84f1639253fe2d985","side":"right"},{"sibling":"bdf418fdb2387b7912d36d1555d416dcfa38bf44f13ceb668da85017961ea325","side":"left"},{"sibling":"2e58089caf7f1db1aa460c4b6c14253f3d1a529584541dfdf03beb7165621963","side":"right"},{"sibling":"8cbf75eeadb066c37f24fe8ba9fb81dfedfc0de4f722cb8e2a8b6db86c087934","side":"right"},{"sibling":"b234297839b708da55a19049dd232521d12e8204fc98edded13d91a03a53d90f","side":"right"},{"sibling":"e2f3465fc74f48bb335c248143b3811c6e2bffa1b6671301e8a48cb5569a68db","side":"left"},{"sibling":"1fe4f74c7ddb4bf1f3105cee6c2413b68972083840bc89ce8e21eddb44153505","side":"right"},{"sibling":"841129c21a7583176cdc7de281cadfe0e00d04673461e199760cd5128d8cc2d5","side":"right"},{"sibling":"19d6dfd29bc47f35fa02e8fe765277ba9cc3e6da5072309f24ebaac5b5f295e3","side":"right"},{"sibling":"8e0ad7889eb2d4b40e5b6c3d8e2eb19d4e202374983f468aa76321823de07a9f","side":"left"},{"sibling":"aae716235efcb893a1f219dbcd5095070d08a497769fc6d50c14976aa26d5750","side":"right"},{"sibling":"a75ab4319e241beeddb1b3f5705febe0422937926c3479923ccfb0b0082fa4e3","side":"left"},{"sibling":"bd04fa605f883bfb2b81510d045b1e85e555a03da3be083619f61384dfe40ff8","side":"left"},{"sibling":"1b72ad8d12164fdf329e7871711be99d8569d140b21f94056e6962da21da9ce1","side":"right"},{"sibling":"5f5109c2bfdcc7a7e70554bba25862e2d7ce86b6b0cd48a72eb66d2eb735f321","side":"right"},{"sibling":"05fd8a05dddb2e7f72bbb5b290ca55c378f1aed709f132277908d9a5f30eb605","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":289613,"merkle_root":"dc428b9d9ba248d4f93f63147bf7c700bf5be7f500cec6c3507b9df6e9401601","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260707T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-07T05:38:15Z","sig_algorithm":"ed25519","signature":"c468b0e183383ab71992be40bda451093e6cd8cd8efb0d26f68e135a804b287c209d12a0f4fdd95c69c835c04b78df8cb1903dee1f53d4730b36f5332a29fe05","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_1f61d4869f03fb6be9035c85d6a90ca6af7b68dd9a11b726af79774c6da70f72"}}