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[Submitted on 28 Sep 2026] Title:Test-Time Adaptation of Manipulation Policies Under Actuator Degradation View a PDF of the paper titled Test-Time Adaptation of Manipulation Policies Under Actuator Degradation, by Som Sagar and 1 other authors View PDF HTML (experimental) Abstract:Robot manipulation policies are usually trained under the assumption that a commanded action produces the same motion as it did during training even after hours of operation. Real hardware violates this assumption as the motors gradually heat up, current saturates near contact, voltage sags under load, thus the same policy action can produce a weaker, delayed, or noisier motion. These conditions are already measured by onboard telemetry, such as joint temperature, motor current, and supply voltage, yet this signal is typically used only for logging or safety checks rather than policy adaptation. We introduce Telemetry-Aware Action Rectification (TeAR), a policy-agnostic method that turns a frozen manipulation policy into a telemetry-conditioned policy by rectifying its outgoing action before it reaches the low-level controller. TeAR learns a lightweight Transformer that combines the proposed action with live actuator telemetry and amplifies, damps, or biases individual action components. We evaluate TeAR across 18 policy-task pairs spanning 8 policy families and 5 manipulation tasks. In an additional paired evaluation with degradation-model mismatch, TeAR achieves 31.8% success, compared with 25.6% for the base policy and 30.6% for an assumed-model inverse. On a physical arm, TeAR improves success under heating by 10-15% without on-robot fine-tuning. Comments: 13 pages, 15 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2609.36182 [cs.RO] (or arXiv:2609.36182v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.36182 arXiv-issued DOI via DataCite (pending registration) Submission history From: Som Sagar [view email] [v1] Mon, 28 Sep 2026 19:49:27 UTC (5,176 KB) Full-text links: Access Paper: View a PDF of the paper titled Test-Time Adaptation of Manipulation Policies Under Actuator Degradation, by Som Sagar and 1 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)