arxivcs.AIeess.SY2026-07-23
When Is a Learned Command Adapter Worth It? Closed-Loop Identification and Counterfactual Auditing of Frozen Locomotion Policies
Adding a learned adapter to a frozen, command-conditioned locomotion policy is worthwhile only if the interface exposes improvements that are both real and recoverable from deployment-time observations. We introduce an adapter necessity audit that separates global operating-point…