{"id":"https://openalex.org/W7131116462","doi":"https://doi.org/10.48550/arxiv.2602.18025","title":"Cross-Embodiment Offline Reinforcement Learning for Heterogeneous Robot Datasets","display_name":"Cross-Embodiment Offline Reinforcement Learning for Heterogeneous Robot Datasets","publication_year":2026,"publication_date":"2026-02-20","ids":{"openalex":"https://openalex.org/W7131116462","doi":"https://doi.org/10.48550/arxiv.2602.18025"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.18025","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126637191","display_name":"Haruki Abe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abe, Haruki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109688317","display_name":"Tayuki Osa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Osa, Takayuki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061625131","display_name":"Yusuke Mukuta","orcid":"https://orcid.org/0000-0002-7727-5681"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mukuta, Yusuke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125774251","display_name":"Tatsuya Harada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Harada, Tatsuya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8131999969482422,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8131999969482422,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.04349999874830246,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.029500000178813934,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7922000288963318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.698199987411499},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6342999935150146},{"id":"https://openalex.org/keywords/offline-learning","display_name":"Offline learning","score":0.5446000099182129},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5443000197410583},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5153999924659729},{"id":"https://openalex.org/keywords/online-and-offline","display_name":"Online and offline","score":0.40049999952316284}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7922000288963318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.718999981880188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.698199987411499},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6342999935150146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6262000203132629},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.5446000099182129},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5443000197410583},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.520799994468689},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5153999924659729},{"id":"https://openalex.org/C2780102126","wikidata":"https://www.wikidata.org/wiki/Q10928179","display_name":"Online and offline","level":2,"score":0.40049999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39160001277923584},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.3391000032424927},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.28630000352859497},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2524000108242035}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.18025","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.18025","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.18025","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.18025","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Scalable":[0],"robot":[1,49,98,131],"policy":[2],"pre-training":[3,109],"has":[4],"been":[5],"hindered":[6],"by":[7,25,159],"the":[8,122,128,163],"high":[9],"cost":[10],"of":[11,64,75,92,124,130],"collecting":[12],"high-quality":[13],"demonstrations":[14],"for":[15],"each":[16],"platform.":[17],"In":[18],"this":[19,23,65,82,104],"study,":[20],"we":[21,88,134,148],"address":[22],"issue":[24],"uniting":[26],"offline":[27,66,83],"reinforcement":[28],"learning":[29,46],"(offline":[30],"RL)":[31],"with":[32,110,167],"cross-embodiment":[33,45,69,86],"learning.":[34,144],"Offline":[35],"RL":[36,67,84],"leverages":[37],"both":[38],"expert":[39],"and":[40,44,68,78,85,127,162,179],"abundant":[41],"suboptimal":[42,114,125],"data,":[43],"aggregates":[47],"heterogeneous":[48],"trajectories":[50],"across":[51,139],"diverse":[52],"morphologies":[53,140],"to":[54,142],"acquire":[55],"universal":[56],"control":[57],"priors.":[58],"We":[59],"perform":[60],"a":[61,72,90,168],"systematic":[62],"analysis":[63],"paradigm,":[70,87],"providing":[71],"principled":[73],"understanding":[74],"its":[76],"strengths":[77],"limitations.":[79],"To":[80,145],"evaluate":[81],"construct":[89],"suite":[91],"locomotion":[93],"datasets":[94,111],"spanning":[95],"16":[96],"distinct":[97],"platforms.":[99],"Our":[100],"experiments":[101],"confirm":[102],"that":[103,136],"combined":[105],"approach":[106],"excels":[107],"at":[108],"rich":[112],"in":[113,154],"trajectories,":[115],"outperforming":[116],"pure":[117],"behavior":[118],"cloning.":[119],"However,":[120],"as":[121],"proportion":[123],"data":[126],"number":[129],"types":[132],"increase,":[133],"observe":[135],"conflicting":[137],"gradients":[138],"begin":[141],"impede":[143],"mitigate":[146],"this,":[147],"introduce":[149],"an":[150],"embodiment-based":[151],"grouping":[152,174],"strategy":[153],"which":[155],"robots":[156],"are":[157],"clustered":[158],"morphological":[160],"similarity":[161],"model":[164],"is":[165],"updated":[166],"group":[169],"gradient.":[170],"This":[171],"simple,":[172],"static":[173],"substantially":[175],"reduces":[176],"inter-robot":[177],"conflicts":[178],"outperforms":[180],"existing":[181],"conflict-resolution":[182],"methods.":[183]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-02-24T00:00:00"}
