{"id":"https://openalex.org/W7161811593","doi":"https://doi.org/10.48550/arxiv.2605.19503","title":"ARC-RL: A Reinforcement Learning Playground Inspired by ARC Raiders","display_name":"ARC-RL: A Reinforcement Learning Playground Inspired by ARC Raiders","publication_year":2026,"publication_date":"2026-05-19","ids":{"openalex":"https://openalex.org/W7161811593","doi":"https://doi.org/10.48550/arxiv.2605.19503"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.19503","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19503","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.19503","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011709924","display_name":"Carlo Romeo","orcid":"https://orcid.org/0000-0002-7287-0019"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Romeo, Carlo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135380493","display_name":"Andrew D. Bagdanov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bagdanov, Andrew D.","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9097999930381775,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9097999930381775,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.022600000724196434,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.02199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9018999934196472},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.621399998664856},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5727999806404114},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5432000160217285},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5339000225067139},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4903999865055084},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4771000146865845},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.42329999804496765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41029998660087585}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9018999934196472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6503000259399414},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.621399998664856},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5727999806404114},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5432000160217285},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5339000225067139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5324000120162964},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4903999865055084},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4771000146865845},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.42329999804496765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C83415579","wikidata":"https://www.wikidata.org/wiki/Q161973","display_name":"Arc (geometry)","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32409998774528503},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.32100000977516174},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.31520000100135803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C19273510","wikidata":"https://www.wikidata.org/wiki/Q263847","display_name":"Artificial life","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28929999470710754},{"id":"https://openalex.org/C86792732","wikidata":"https://www.wikidata.org/wiki/Q1416338","display_name":"Creatures","level":3,"score":0.2847000062465668},{"id":"https://openalex.org/C2777718900","wikidata":"https://www.wikidata.org/wiki/Q1061918","display_name":"SOCKS","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2775000035762787},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2770000100135803},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C2780389661","wikidata":"https://www.wikidata.org/wiki/Q1528875","display_name":"VIPeR","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C97399411","wikidata":"https://www.wikidata.org/wiki/Q825367","display_name":"Coin flipping","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.19503","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19503","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":"doi:10.48550/arxiv.2605.19503","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19503","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.502941906452179,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1],"for":[2,177],"legged":[3],"locomotion":[4],"has":[5],"matured":[6],"into":[7],"a":[8,52,93,102,114,124,127,131,142,185],"stack":[9],"of":[10,43,54,66,117,174],"multi-component":[11,105],"reward":[12,106,122,150],"functions":[13],"and":[14,38,84,101,119,141,171,196,205,216],"physics-engine":[15],"benchmarks":[16],"whose":[17,108],"morphologies":[18,61],"are":[19,29],"uniformly":[20],"derived":[21],"from":[22,35],"real":[23],"commercial":[24],"hardware.":[25],"Game":[26],"NPCs,":[27],"however,":[28],"bound":[30],"by":[31,63],"stylistic":[32,218],"constraints":[33],"absent":[34],"sim-to-real":[36],"robotics":[37],"routinely":[39],"take":[40],"the":[41,64,69,74,79,85,149,212],"form":[42],"creatures":[44],"with":[45,199,211],"no":[46,145],"real-robot":[47],"counterpart.":[48],"We":[49,154],"introduce":[50],"ARC-RL,":[51],"suite":[53],"four":[55,90],"MuJoCo":[56],"continuous-control":[57],"environments":[58],"featuring":[59],"robotic":[60],"inspired":[62],"bestiary":[65],"ARC":[67],"Raiders:":[68],"18-DoF":[70,80],"tall":[71],"hexapod":[72,77,82],"Queen,":[73],"12-DoF":[75,86],"armoured":[76],"Bastion,":[78],"compact":[81],"Tick,":[83],"quadruped":[87],"Leaper.":[88],"All":[89],"robots":[91],"share":[92],"unified":[94],"observation":[95],"template,":[96],"action":[97,136],"convention,":[98],"simulation":[99],"cadence,":[100],"single":[103],"closed-form":[104],"function":[107],"only":[109],"per-morphology":[110],"variation":[111],"lives":[112],"in":[113],"small":[115],"set":[116],"weights":[118],"parameters.":[120],"The":[121],"fuses":[123],"velocity-tracking":[125],"tent,":[126],"healthy":[128],"survive":[129],"bonus,":[130],"phase-locked":[132],"gait-compliance":[133],"bonus/cost":[134],"pair,":[135],"regularisers,":[137],"three":[138],"safety":[139],"penalties,":[140],"posture":[143],"anchor;":[144],"motion-capture":[146],"data":[147,176,201],"enters":[148],"at":[151,224],"any":[152],"point.":[153],"additionally":[155],"provide":[156],"hand-crafted":[157],"Central":[158],"Pattern":[159],"Generator":[160],"demonstrators":[161],"per":[162],"morphology,":[163],"which":[164],"serve":[165],"both":[166],"as":[167,172],"fixed":[168],"expert":[169],"references":[170],"sources":[173],"prior":[175,200],"offline-to-online":[178],"training.":[179],"On":[180],"this":[181],"playground,":[182],"we":[183],"conduct":[184],"controlled":[186],"empirical":[187],"study":[188],"comparing":[189],"standard":[190],"online":[191],"algorithms":[192],"(SAC,":[193],"SPEQ,":[194],"SOPE-EO)":[195],"methods":[197],"augmented":[198],"(SACfD,":[202],"SPEQ-O2O,":[203],"SOPE),":[204],"characterise":[206],"how":[207],"each":[208],"paradigm":[209],"copes":[210],"playground's":[213],"morphological":[214],"diversity":[215],"animation-style":[217],"constraints.":[219],"Source":[220],"code":[221],"is":[222],"available":[223],"https://github.com/CarloRomeo427/ARC_RL.git.":[225]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-21T00:00:00"}
