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simmediumquadrupedmetric · varies
Residual Control for Fast Recovery from Dynamics Shifts
Description
Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode, even locally stabilizing learned policies can experience substantial transient performance degradation. While input-to-state stability guarantees bounded state deviation, it does not ensure rapid restoration of task-level performance. We address inference-time