Residual Compliant Policy: Learning Compliant Policies from Few Demonstrations

cs.RO

Submitted: 2026-10-01

Updated: 2026-10-01

Comments: 9 pages, 6 figures. Project website: https://residual-compliant-policy.github.io

Code: https://github.com/newton-physics/newton

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
• Consistency Flow Matching: Defining Straight Flows with Velocity Consistency
• Twisting Lids Off with Two Hands
• Residual Policy Learning
• GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
• Asymmetric Actor Critic for Image-Based Robot Learning
• Proximal Policy Optimization Algorithms

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