Residual Policy Learning

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13 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. LocoWM: High-Precision Locomotion through World-Model-Guided Residual Adaptation

    Sep 30, 2026Zijie Zhao, Shengqian Chen, Xiaoxu Wang +3Robot Policy AdaptationWorld Models for Robotics

    University of Chinese Academy of Sciences · Institute of Automation, Chinese Academy of Sciences · Beijing University of Posts and Telecommunications +1

  2. FailPatch: Failure Residual Patching for Vision-Language-Action Models

    Sep 28, 2026Peng Yu, Jiacheng Wang, Ziheng Zhang +6Robot Policy LearningRobot Policy Adaptation

    Xi’an Jiaotong University · Dexmal · Nanjing University

  3. RSD-Poker: Structure-Adaptive and Shift-Robust Risk-Utility Certification for Residual Policies in Imperfect-Information Games

    Sep 27, 2026Miaobo Hu, Shuhao Hu, Xiaobo Guo +5Distribution Shift RobustnessImperfect-Information Games

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China · Institute of Information Engineering, Chinese Academy of Sciences, Beijing, China

  4. Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand

    Sep 26, 2026Dayi Dong, Maulik Bhatt, Aayushi Shrivastava +2Multi-Agent CoordinationRobot Policy Adaptation

    Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94709, USA

  5. Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation

    Sep 24, 2026Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1Contact-Rich Robotic ManipulationHuman-in-the-Loop AI

    Siemens AG, Research and Predevelopment, Germany. · Technical University of Munich, Germany.

  6. CereVLA: Cerebellum-Inspired Consequence-Aware Residual Governance for Efficient Vision-Language-Action Execution

    Sep 23, 2026Shuai Zeng, Yuxuan Liang, Hangmiao Hu +4Efficient VLA Model InferenceVision-Language-Action Models

    Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China

  7. DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

    Sep 22, 2026Yiyang Jin, Yu Zheng, Xiao He +1Synthetic Data Generation for RoboticsRobot Motion Generation

    School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China. · LandSpace Technology Co.,Ltd., China

  8. HABILIS Brain 0: Geometry-Change Supervision for Vision-Language-Action and Residual Flow Recovery

    Sep 22, 2026Jinu Pahk, Jesoon Kang, Taegeon Park +4Visuomotor Policy LearningRobotic Manipulation

    Tommoro Robotics

  9. Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Contact-Rich Robotic ManipulationRobotic RL

    Deakin University, Australia

  10. Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

    Sep 16, 2026Ruiming Wu, Shuang Li, Liding Zhang +2Bimanual Robotic ManipulationRobot Teleoperation

    Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Agile Robots SE, Munich, Germany

  11. ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

    Sep 16, 2026Ju Dong, Yu Fu, Jian Chen +9Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, University of Hamburg, Hamburg, Germany. · University of Science and Technology of China, Hefei, China. · Technical University of Munich, Germany.

  12. Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults

    Sep 15, 2026Linan Deng, Xing Liu, Lin Hong +4Dexterous ManipulationRobotic Manipulation

    Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China · School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China · School of Artificial Intelligence and Automation, MOE Key Lab of Intelligent Control and Image Processing, Huazhong University of Science and Technology, Wuhan 430074, China

  13. ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

    Sep 14, 2026Gechen Qu, Tong Zhang, Bike Zhang +4Safety-Critical ControlHumanoid Robot Control

    University of California, Berkeley · University of California, Los Angeles

  14. ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

    Aug 18, 2026Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai +1Robotic ControlRobot Policy Learning

    Embodied AI Research Team · National Institute of AIST · Tokyo, Japan

  15. OGR-MARL: Option-Guided Residual Multi-Agent Reinforcement Learning for Heterogeneous USV Cooperative Pursuit in Constrained Port Waterways

    Aug 13, 2026Mao Jiayang, Wang Lanfeng, Peng Zhao-HanReinforcement LearningMobile Robotics

    College of Information Engineering Sichuan Agricultural University Yaan, China · Shenzhen International Graduate School Tsinghua University Shenzhen, China

  16. Climate-Dyna Deep Hedging for XVAs: Model-Based Reinforcement Learning, Residual Climate HVA, and Hedge-Instrument Discovery

    Aug 2, 2026Xiaozhen Wang, Francois Buet-GolfouseQuantitative FinanceResidual Policy Learning

    CEREMADE Université Paris Dauphine–PSL, France · AIML Global Markets Barclays, United Kingdom

  17. Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models

    Jul 17, 2026Yuhan Liu, Xinyu Zhang, Litao Liu +1Reward ShapingLong-Horizon Robotic Manipulation

    Department of Computer Science, Rutgers University

  18. LIDAR-AD: A Decoder-Free Latent-Interaction Dreamer with Action-Residual Chains for Autonomous Driving

    Jul 12, 2026Yongzhi Liu, Yang Xiao, Zhong Cao +5Latent Dynamics ModelingWorld Models for Autonomous Driving

    School of Mechanical Engineering, Southeast University, Nanjing, Jiangsu 211189, China · Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI 48109, USA · Xheart Technology Co., Ltd., Suzhou, Jiangsu 215100, China

  19. OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies

    Jul 4, 2026Kelin Yu, Haode Zhang, Harish Ravichandar +2Robot Policy AdaptationRobot Skill Learning

    University of Maryland, College Park · Georgia Institute of Technology

  20. Warp RL: Reshaping Base Policy Distributions for Dynamics Adaptation

    Jun 30, 2026Ethan Hirschowitz, Fabio RamosRobot Policy AdaptationRobotic RL

    University of Sydney, Australia · NVIDIA, US

  21. DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand

    Jun 26, 2026Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3Dexterous ManipulationRobotic Manipulation

    University of North Carolina at Chapel Hill

  22. HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning

    Jun 22, 2026Jingyi Liu, Zhaohong Mai, ShunSen He +5RL for RoboticsVision-Language-Action Models

    1CloudRobo Lab, Huawei Cloud Computing Technologies Co., Ltd. · 2South China University of Technology.

  23. Object-Centric Residual RL for Zero-Shot Sim-to-Real VLA Enhancement

    Jun 17, 2026Kinam Kim, Namiko Saito, Heecheol Kim +3Reinforcement LearningZero-Shot Robotic Manipulation

    KAIST, South Korea · Microsoft Research Asia - Tokyo, Japan · The University of Tokyo, Japan

  24. MotionPyramid: Hierarchical Motion Representation and Residual Interfaces

    Jun 15, 2026Gao Zhu, Zaishuo Xia, Yubei ChenLatent Action LearningHierarchical Representation Learning

    UC Davis

  25. Task-Error Residual Learning for Real-Robot Five-Ball Juggling

    Jun 15, 2026Kai Ploeger, Jan PetersRobotic ControlRobot Skill Learning

    Technical University of Darmstadt, Germany · German Research Center for AI (DFKI), Germany · Hessian Center for Artificial Intelligence (hessian.AI), Germany

  26. Uncovering Vulnerability of Vision-Language-Action Models under Joint-Level Physical Faults

    Jun 9, 2026Minsoo Jo, Taeju Kwon, Junha Chun +2Robotic ControlVision-Language-Action Models

    Graduate School of Data Science, Seoul National University

  27. ReCoVLA: VLM-Guided Reward Compilation for Failure Recovery in Vision-Language-Action Policies

    Jun 8, 2026Haodi Hu, Chung-Ta Huang, Jing Liu +4Robot Failure RecoveryVision-Language-Action Models

    University of Southern California, USA · Mitsubishi Electric Research Laboratories (MERL), USA · Harvard University, USA

  28. Inverse Manipulation through Symbolic Planning and Residual Operator Learning

    Jun 3, 2026Yigit Yildirim, Giuseppe Rauso, Riccardo Caccavale +1RL for RoboticsRobot Skill Learning

    CREATE Consortium, Italy · Department of Electrical Engineering and Information Technologies, Universit`a di Napoli Federico II, Italy

  29. Autopilot-Preserving Residual Q-Learning with HJB-Inspired Finite-Action Risk Filtering for Fixed-Wing UAV Command Supervision

    May 31, 2026Mehmet Iscan, Batuhan TemizAerial RoboticsStochastic Optimal Control

    PythaLab, Yildiz Technical University, Istanbul, Turkey · Autopilot Systems Chief Engineer, Turkish Aerospace (TUSAŞ), Ankara, Turkey

  30. BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models

    May 28, 2026Zhongxi Chen, Yifan Han, Bin Qiu +8Contact-Rich Robotic ManipulationRobotic Manipulation

    Shanghai Jiao Tong University (SJTU) · CASIA · Shanghai AI Laboratory +1