Haruki Abe

Haruki Abe, Takayuki Osa, Yusuke Mukuta et al.

Scalable robot policy pre-training has been hindered by the high cost of collecting high-quality demonstrations for each platform. In this study, we address this issue by uniting offline reinforcement learning (offline RL) with cross-embodiment learning. Offline RL leverages both expert and abundant suboptimal data, and cross-embodiment learning aggregates heterogeneous robot trajectories across diverse morphologies to acquire universal control priors. We perform a systematic analysis of this offline RL and cross-embodiment paradigm, providing a principled understanding of its strengths and limitations. To evaluate this offline RL and cross-embodiment paradigm, we construct a suite of locomotion datasets spanning 16 distinct robot platforms. Our experiments confirm that this combined approach excels at pre-training with datasets rich in suboptimal trajectories, outperforming pure behavior cloning. However, as the proportion of suboptimal data and the number of robot types increase, we observe that conflicting gradients across morphologies begin to impede learning. To mitigate this, we introduce an embodiment-based grouping strategy in which robots are clustered by morphological similarity and the model is updated with a group gradient. This simple, static grouping substantially reduces inter-robot conflicts and outperforms existing conflict-resolution methods.

Kei Uchizawa, Haruki Abe

In this paper, we investigate computational power of threshold circuits and other theoretical models of neural networks in terms of the following four complexity measures: size (the number of gates), depth, weight and energy. Here the energy complexity of a circuit measures sparsity of their computation, and is defined as the maximum number of gates outputting non-zero values taken over all the input assignments. As our main result, we prove that any threshold circuit $C$ of size $s$, depth $d$, energy $e$ and weight $w$ satisfies $\log (rk(M_C)) \le ed (\log s + \log w + \log n)$, where $rk(M_C)$ is the rank of the communication matrix $M_C$ of a $2n$-variable Boolean function that $C$ computes. Thus, such a threshold circuit $C$ is able to compute only a Boolean function of which communication matrix has rank bounded by a product of logarithmic factors of $s,w$ and linear factors of $d,e$. This implies an exponential lower bound on the size of even sublinear-depth threshold circuit if energy and weight are sufficiently small. For other models of neural networks such as a discretized ReLE circuits and decretized sigmoid circuits, we prove that a similar inequality also holds for a discretized circuit $C$: $rk(M_C) = O(ed(\log s + \log w + \log n)^3)$.