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. SPAR: Support-Preserving Action Rectification

    May 27, 2026Jiaxin Zhao, Weihang Pan, Xun Liang +1Imitation LearningOffline RL

    Zhejiang University.

  2. Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy

    May 26, 2026Yuhang Wan, Weixian Lin, Letian Qian +5RL for Legged LocomotionResidual Policy Learning

    School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

  3. Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning

    May 19, 2026Dongjie Yu, Kun Lei, Zhennan Jiang +2Robot Policy AdaptationReinforcement Learning

    School of Computing and Data Science, The University of Hong Kong, Hong Kong SAR. · Shanghai Qizhi Institute, Shanghai, China. · Shanghai Jiao Tong University, Shanghai, China. +2

  4. OGPO: Sample Efficient Full-Finetuning of Generative Control Policies

    May 4, 2026Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14RL for RoboticsRL for Generative Models

    Carnegie Mellon University · University of California, Berkeley · University of Washington +1

  5. Detecting is Easy, Adapting is Hard: Local Expert Growth for Visual Model-Based Reinforcement Learning under Distribution Shift

    Apr 30, 2026Haiyang ZhaoDistribution Shift RobustnessOOD Generalization

    University of Georgia United States

  6. Fisher Decorator: Refining Flow Policy via a Local Transport Map

    Apr 20, 2026Xiaoyuan Cheng, Haoyu Wang, Wenxuan Yuan +4Flow MatchingOffline RL

    University College London · Shanghai Jiao Tong University · Imperial College London +3

  7. AnchorRefine: Synergy-Manipulation Based on Trajectory Anchor and Residual Refinement for Vision-Language-Action Models

    Apr 20, 2026Tingzheng Jia, Kan Guo, Lanping Qian +6Robot Policy LearningLanguage-Conditioned Robot Manipulation

    Beijing University of Technology Beijing, China · Beihang University Beijing, China · Nanjing University of Science and Technology Nanjing, China

  8. Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigation

    Apr 9, 2026Haruto Nagahisa, Kohei Matsumoto, Yuki Tomita +2Reinforcement LearningMobile Robotics

    Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan · Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan

  9. From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning

    Mar 10, 2026Zhanyi Sun, Shuran SongRL for RoboticsRobot Policy Learning

    1Stanford University.

  10. Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow

    Mar 5, 2026Yanda Yang, Sambeeta DasRobot Trajectory TrackingContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

  11. Physics-Guided Residual Reinforcement Learning for Humanoid Narrow-Path Traversal

    Aug 28, 2025Tianchen Huang, Sisheng Chen, Wei Zhou +8Humanoid Robot LocomotionRobot Skill Learning

    Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China