{"id":"https://openalex.org/W7167249367","doi":"https://doi.org/10.48550/arxiv.2607.02288","title":"Generalization in offline RL: The structure is more important than the amount of pessimism","display_name":"Generalization in offline RL: The structure is more important than the amount of pessimism","publication_year":2026,"publication_date":"2026-07-02","ids":{"openalex":"https://openalex.org/W7167249367","doi":"https://doi.org/10.48550/arxiv.2607.02288"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.02288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2607.02288","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070581303","display_name":"Max Weltevrede","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weltevrede, Max","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075395956","display_name":"Matthijs T. J. Spaan","orcid":"https://orcid.org/0009-0002-2858-8611"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Spaan, Matthijs T. J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033832179","display_name":"Wendelin B\u00f6hmer","orcid":"https://orcid.org/0000-0002-4398-6792"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B\u00f6hmer, Wendelin","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":0.946399986743927,"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":0.946399986743927,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.007699999958276749,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0038999998942017555,"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/generalization","display_name":"Generalization","score":0.786899983882904},{"id":"https://openalex.org/keywords/pessimism","display_name":"Pessimism","score":0.7508000135421753},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6194999814033508},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5601999759674072},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.5080000162124634},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.49480000138282776}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.786899983882904},{"id":"https://openalex.org/C9992130","wikidata":"https://www.wikidata.org/wiki/Q484954","display_name":"Pessimism","level":2,"score":0.7508000135421753},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6194999814033508},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5601999759674072},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.5080000162124634},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.49480000138282776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41830000281333923},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.36090001463890076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35929998755455017},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3499999940395355},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.2782999873161316},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.27709999680519104},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.02288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.02288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.44559720158576965,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"pessimism":[1,92],"counteracts":[2],"overestimation":[3],"bias":[4],"in":[5,23,38],"offline":[6,86,148],"reinforcement":[7],"learning":[8],"(RL),":[9],"being":[10,29],"overly":[11,30,81],"conservative":[12],"has":[13],"been":[14],"associated":[15],"with":[16],"hindering":[17],"certain":[18],"forms":[19],"of":[20,52,63,90,98,146],"generalization.":[21],"However,":[22],"this":[24],"paper":[25],"we":[26,43,126],"demonstrate":[27],"that":[28,69,128],"pessimistic":[31,57],"does":[32],"not":[33,48],"inherently":[34],"prevent":[35],"optimal":[36,65],"generalization":[37,46],"contextual":[39],"MDPs":[40],"(CMDPs).":[41],"Instead,":[42],"argue":[44,127],"successful":[45],"depends":[47],"on":[49,150,162],"the":[50,56,60,64,88,91,96,99,143],"amount":[51],"pessimism,":[53],"but":[54],"whether":[55],"structure":[58,89,97],"respects":[59],"underlying":[61],"symmetries":[62],"solution.":[66],"We":[67],"prove":[68],"a":[70,105,135,163],"mildly":[71],"pessimistic,":[72,82],"non-symmetric":[73],"value":[74,107],"function":[75,108],"can":[76,109,130],"generalize":[77],"worse":[78],"than":[79,142],"an":[80,151],"symmetric":[83,106,165],"one.":[84],"In":[85],"RL,":[87],"is":[93,155],"determined":[94],"by":[95,122],"dataset":[100],"coverage.":[101],"As":[102],"such,":[103],"enforcing":[104],"be":[110,132],"non-trivial,":[111],"and":[112,160],"might":[113],"require":[114],"techniques":[115],"such":[116],"as":[117],"data":[118],"augmentation":[119],"(DA).":[120],"Inspired":[121],"our":[123],"theoretical":[124],"results,":[125],"DA":[129],"best":[131],"applied":[133],"through":[134],"consistency":[136],"loss":[137],"during":[138],"policy":[139],"extraction,":[140],"rather":[141],"common":[144],"practice":[145],"(regular)":[147],"training":[149],"augmented":[152],"dataset.":[153],"This":[154],"empirically":[156],"validated":[157],"using":[158],"IQL":[159],"CQL":[161],"rotationally":[164],"reacher":[166],"environment.":[167]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-04T00:00:00"}