{"id":"https://openalex.org/W7165030381","doi":"https://doi.org/10.48550/arxiv.2606.17493","title":"When Robots Sleep: Offline Skill Consolidation for Shared-Policy Robot Learning","display_name":"When Robots Sleep: Offline Skill Consolidation for Shared-Policy Robot Learning","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7165030381","doi":"https://doi.org/10.48550/arxiv.2606.17493"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.17493","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17493","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.2606.17493","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125514122","display_name":"Nethmi Jayasinghe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jayasinghe, Nethmi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125480191","display_name":"Diana Gontero","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gontero, Diana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5028132107","display_name":"Amit Ranjan Trivedi","orcid":"https://orcid.org/0000-0001-5436-7922"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Trivedi, Amit Ranjan","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":0.8003000020980835,"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":0.8003000020980835,"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":0.048500001430511475,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.03220000118017197,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/robot","display_name":"Robot","score":0.7071999907493591},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6218000054359436},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5830000042915344},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43309998512268066},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.3984000086784363},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3635999858379364},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.3614000082015991},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.33709999918937683}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7071999907493591},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6218000054359436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5849000215530396},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5830000042915344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5572999715805054},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43309998512268066},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3635999858379364},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3614000082015991},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.33709999918937683},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3125999867916107},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2992999851703644},{"id":"https://openalex.org/C122434488","wikidata":"https://www.wikidata.org/wiki/Q565578","display_name":"Eye\u2013hand coordination","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C100521375","wikidata":"https://www.wikidata.org/wiki/Q2015382","display_name":"Competence (human resources)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C199190896","wikidata":"https://www.wikidata.org/wiki/Q3509276","display_name":"Learning classifier system","level":3,"score":0.28290000557899475},{"id":"https://openalex.org/C2776014549","wikidata":"https://www.wikidata.org/wiki/Q3050847","display_name":"Consolidation (business)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2637999951839447},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.17493","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17493","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.2606.17493","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17493","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0,147],"that":[1,16,79],"learn":[2],"over":[3,160],"long":[4],"deployments":[5],"must":[6,40],"add":[7],"new":[8,82],"skills":[9,19,70],"without":[10,46],"losing":[11],"the":[12,37,88,161],"shared":[13,44,89],"policy":[14,39,90],"structure":[15],"makes":[17],"earlier":[18],"reusable.":[20],"We":[21,52,72],"study":[22],"sequential":[23],"robot":[24],"skill":[25,62,83,97],"learning,":[26],"where":[27],"previous":[28],"trajectories":[29],"and":[30,36,86,108,137,154,165,172],"task":[31],"losses":[32],"may":[33],"be":[34],"unavailable,":[35],"deployed":[38],"remain":[41],"a":[42,56,76],"single":[43],"controller":[45],"task-specific":[47],"heads,":[48],"routing,":[49],"or":[50],"adapters.":[51],"identify":[53],"skill-coupling":[54],"collapse,":[55],"failure":[57],"mode":[58],"in":[59],"which":[60],"individual":[61],"success":[63,150,171],"remains":[64],"non-trivial":[65],"while":[66,180],"reliability":[67,156],"among":[68],"related":[69],"deteriorates.":[71],"propose":[73],"Sleeping":[74,146],"Robots,":[75],"wake-sleep":[77],"framework":[78],"learns":[80],"each":[81],"during":[84,92],"wake":[85],"consolidates":[87],"offline":[91],"sleep":[93],"using":[94],"compact":[95],"frozen":[96,99,109],"memories:":[98],"critics":[100],"with":[101,112,134],"unordered":[102,113],"state":[103],"buffers":[104,115],"for":[105,116,140],"reinforcement":[106],"learning":[107],"actor":[110],"snapshots":[111],"observation":[114],"imitation":[117,178],"learning.":[118],"During":[119],"sleep,":[120],"these":[121],"memories":[122],"define":[123],"differentiable":[124],"surrogate":[125],"objectives":[126],"whose":[127],"gradients":[128],"are":[129],"combined":[130],"through":[131],"Nash":[132],"bargaining,":[133],"adaptive":[135],"anchoring":[136],"local":[138],"excitability":[139],"stable":[141],"consolidation.":[142],"On":[143],"Meta-World":[144],"MT5,":[145],"improves":[148,169],"average":[149,170],"by":[151,157],"64":[152],"%":[153],"pairwise":[155,184],"x":[158],"2.0":[159],"strongest":[162],"non-oracle":[163],"baseline,":[164],"on":[166,183],"SurgicAI":[167],"it":[168],"backward":[173],"transfer":[174],"relative":[175],"to":[176],"continual":[177],"baselines":[179],"remaining":[181],"competitive":[182],"reliability.":[185]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-18T00:00:00"}
