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

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 $\texttt{HalfCheetah-v5}$ and $+53$% on $\texttt{Humanoid-v5}$ under moderate faults, with graceful degradation under severe shifts and complementary robustness from consolidating persistent residual corrections into policy parameters.