2026
Cerebellar-Inspired Residual Control for Fault Recovery: From Inference-Time Adaptation to Structural Consolidation
ICML 2026poster
Robotic policies deployed in real-world environments often encounter post-training faults, where retraining, exploration, or system identification are impractical. We introduce an inference-time, cerebellar-inspired residual control framework that augments a frozen reinforcement learning policy with…