---
publication_id: "OT-2026-000001838"
title: "Off-line learning for robot control using a reward prediction model"
published_at: "2026-09-15T19:08:58.398080Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001838"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/161"
  - "b25j9/161"
  - "g06n3/006"
  - "g06n3/092"
  - "b25j9/16"
  - "b25j9/163"
---

# Off-line learning for robot control using a reward prediction model

## Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for off-line learning using a reward prediction model. One of the methods includes obtaining robot experience data; training, on a first subset of the robot experience data, a reward prediction model that receives a reward input comprising an input observation and generates as output a reward prediction that is a prediction of a task-specific reward for the particular task that should be assigned to the input observation; processing experiences in the robot experience data using the trained reward prediction model to generate a respective reward prediction for each of the processed experiences; and training a policy neural network on (i) the processed experiences and (ii) the respective reward predictions for the processed experiences.