I am an improvisational musician. The key to invent from failure is to develope a ever present sense of observing oneself from the outside. The instead of being emberassed when something goes wrong, one can "feel" the potentials that might lurk in where it went wrong.

John Cage once said: If you make a mistake, repeat it.

A trumpeter getting stuck once in a melody is clearly a mistake, them doing the same thing again, and then spinning the thing into a different direction is not only perceived as interesting, it is probably one of the moments where their true genius will become visible the most.

Key to this is to not be too attached to the plan, but to the goal. The plan is that melody you had in mind, or on the sheet. The goal is to play interesting music. If the plan is in the way of playing interesting music, ditch it. If the an is no longer feasible because you fucked up, the plan needs to be adjusted.

This sounds logical for music, but in all other domains (except maybe art and design) people have a very hard time ditching or adjusting the plans immidiately at the point of failure. Kill your darlings and you will get new ones.