# Cerebellar-Inspired Residual Control for Fault Recovery: From Inference-Time Adaptation to Structural Consolidation

arXiv: https://arxiv.org/abs/2602.07227 · HTML: https://mlsanity.com/paper/2602.07227/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 19 references that are in the map.
- First posted on arXiv 6 Feb 2026.

## Builds on (most cited first, 11 of 11)

- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [Sim-to-Real Transfer of Robotic Control with Dynamics Randomization](https://mlsanity.com/paper/1710.06537/) (2017)
- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021)
- [Robust Adversarial Reinforcement Learning](https://mlsanity.com/paper/1703.02702/) (2017)
- [Safe Model-based Reinforcement Learning with Stability Guarantees](https://mlsanity.com/paper/1705.08551/) (2017)
- [Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning](https://mlsanity.com/paper/1708.02596/) (2017)
- [Residual Reinforcement Learning for Robot Control](https://mlsanity.com/paper/1812.03201/) (2018)
- [Residual Policy Learning](https://mlsanity.com/paper/1812.06298/) (2018)
- [On the Sample Complexity of the Linear Quadratic Regulator](https://mlsanity.com/paper/1710.01688/) (2017)
- [Preparing for the Unknown: Learning a Universal Policy with Online System Identification](https://mlsanity.com/paper/1702.02453/) (2017)
- [EPOpt: Learning Robust Neural Network Policies Using Model Ensembles](https://mlsanity.com/paper/1610.01283/) (2016)

## Built on by (most cited first, 1 of 1)

- [Safe Embodied AI for Long-horizon Tasks: A Cross-layer Analysis of Robotic Manipulation](https://mlsanity.com/paper/2606.05660/) (2026)

## Abstract (arXiv)

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 online corrective actions, enabling fault recovery without modifying base policy parameters. The framework instantiates core cerebellar principles, including high-dimensional pattern separation via fixed feature expansion, parallel microzone-style residual pathways, and local error-driven plasticity with excitatory and inhibitory eligibility traces operating at distinct time scales. These mechanisms enable fast, localized correction under post-training disturbances while avoiding destabilizing global policy updates. A conservative, performance-driven meta-adaptation regulates residual authority and plasticity, preserving nominal behavior and suppressing unnecessary intervention. Experiments on MuJoCo benchmarks under actuator, dynamic, and environmental perturbations show improvements of up to +66% on textttHalfCheetah-v5 and +53% on textttHumanoid-v5 under moderate faults, with graceful degradation under severe shifts and complementary robustness from consolidating persistent residual corrections into policy parameters.