2026
Hierarchical Value-Decomposed Offline Reinforcement Learning for Whole-Body Control
ICLR 2026poster
Scaling imitation learning to high-DoF whole-body robots is fundamentally limited by the \textbf{curse of dimensionality} and the prohibitive cost of collecting expert demonstrations. We argue that the core bottleneck is paradigmatic: real-world supervision for whole-body control is inherently imper…