# ResMerge: Residual Policy Learning and Merging for Continual Adaptation of Pre-trained Robot Policies

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/kjlkc0ekkj560krcqoinz4k2z
- Original: https://arxiv.org/abs/2610.41663

## Summary

ResMerge proposes a two-stage framework that learns mergeable residual policies atop a frozen pre-trained policy: residual reinforcement learning obtains task-specific corrections during adaptation without additional expert demonstrations, while parameter-space merging consolidates compatible residuals to reduce stored parameters.