Self Transitions and Feedback loops

Could you please provide guidance on how best to implement a self-transition? That is a state that transitions back to itself? Ideally, it would do this conditionally. So, maybe it transitions to an If that can transition back to the original state?

Geneally, the framework seems to only support acyclic paths through the state machine. Surely you can have a return transition that goes back to a previous state? Would you just 'reinstantiate' that step again in the WF definition?

I suspect it would involve ExecutionResult.branch() but there is apparently no documentation of that nor any samples that use it. The If example also appears to be a once-through with no feedback loop.

Any help would be greatly appreciated. If all workflows have to be acyclical, that would be a dealbreaker for us using it.