A robot going down a wrong path is not producing training data; the efficient move is for a human to intervene and show the recovery.

and trying to fold two boxes together isn't useful data that will teach the model how to get better at the task. And so that would be kind of wasting a lot of time on the robot attempting to go down the wrong path for solving the problem. And so instead of spending a lot of time trying to do that task, what we'll do is we'll actually have a human intervene and show the robot what to do and how to recover from that situation.