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

arXiv:2608.17323 · cs.RO, cs.AI · Submitted 2026-08-18 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-08-18

Updated: 2026-08-30

Terminology

Adaptation — 28× in this paper · explained in 1 episode
Robustness — 10× in this paper · explained in 5 episodes
Transformer — 9× in this paper · explained in 2 episodes
Online Residual Policy Adaptation — 8× in this paper
Distribution Shift — 7× in this paper · explained in 6 episodes
Action Chunking — 5× in this paper · explained in 1 episode
Embodied AI — 4× in this paper · explained in 2 episodes
Aggregation — 3× in this paper · explained in 1 episode
Online Adaptation — 3× in this paper · explained in 3 episodes
Action Chunking with Transformers — 2× in this paper
Adam — 2× in this paper · explained in 2 episodes
Alignment — 2× in this paper · explained in 1 episode
Failure Modes — 2× in this paper · explained in 3 episodes
Latent Representation — 2× in this paper · explained in 2 episodes
Advanced Industrial Science and Technology — 1× in this paper
Computational overhead — 1× in this paper · explained in 2 episodes
Consistency — 1× in this paper · explained in 3 episodes
Continual Learning — 1× in this paper · explained in 2 episodes
Generalization — 1× in this paper · explained in 13 episodes
Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
Regret — 1× in this paper · explained in 3 episodes
Synthetic Data Generation — 1× in this paper · explained in 5 episodes
Temporal consistency — 1× in this paper · explained in 2 episodes

Sources

ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

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