OPENTECHNICAL PUBLICATION
OT-2026-000001838

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

Published: 2026-09-15T19:08:58.398080Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001838
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001838
Published 2026-09-15T19:08:58.398080Z
https://opentechnical.org/p/OT-2026-000001838