Easiest solution for Windows users, confirmed working as of June 2019.
openwrt-XX.XX.X-ramips-mt7620-rt-ac51u-squashfs-sysupgrade.bin to factory.trxfactory.trx and click upload (if Windows shows a compatibility prompt, confirm that the tool worked fine)See also Asus 'How to use Rescue Mode' FAQ
tftp> binary
tftp> timeout 120
tftp> connect
(to) 192.168.1.1
tftp> put openwrt-XX.XX.X-ramips-mt7620-rt-ac51u-squashfs-sysupgrade.bin
ssh root@192.168.1.1
Note: Depending on your firmware version, you might have to re-install LuCI and any extraneous packages after the upgrade
ssh root@192.168.1.1 cd /tmp wget <sysupgrade image link> sysupgrade <freshly downloaded image>.bin
7N1 instead of the more common 8N1