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ResMerge

technology1 mentionslast seen Nov 2, 2026

A two-stage framework for continual adaptation of pre-trained robot policies using residual policy learning and parameter-space merging.

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ResMergedepends onparameter-space merging

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preprintarXivOct 30, 2026ResMerge: Residual Policy Learning and Merging for Continual Adaptation of Pre-trained Robot Policies
ResMerge, a two-stage framework that learns mergeable residual policies atop a frozen pre-trained policy: residual reinforcement learning (RL) acquires task-specific corrections without additional expert demonstrations during adaptation, and parameter-space merging consolidates compatible residuals