Stability-Aligned Residual Adaptation for Rapid Recovery from Dynamics Shifts

arXiv:2603.07775 · cs.RO · Submitted 2026-03-08 · Read on arXiv

cs.RO

Submitted: 2026-03-08

Updated: 2026-09-18

Terminology

• Adaptation — 52× in this paper · explained in 1 episode
• Alignment — 14× in this paper · explained in 1 episode
• AUC — 13× in this paper · explained in 2 episodes
• Robustness — 11× in this paper · explained in 5 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Stability Alignment Gate — 5× in this paper
• Steady-State Ratio — 4× in this paper
• System Identification — 4× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Meta-learning — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Latent Representation — 2× in this paper · explained in 2 episodes
• Latent Representations — 2× in this paper · explained in 3 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Adversarial Training — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Model-Agnostic — 1× in this paper · explained in 2 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes

Sources

• RMA: Rapid Motor Adaptation for Legged Robots
• Preparing for the Unknown: Learning a Universal Policy with Online System Identification
• UMC: Unified Resilient Controller for Legged Robots with Joint Malfunctions

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