GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control

arXiv:2609.19850 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Actor — 24× in this paper · explained in 3 episodes
• GRPO — 15× in this paper · explained in 6 episodes
• Reinforcement Learning — 12× in this paper · explained in 4 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Monte Carlo — 4× in this paper
• Ablation study — 3× in this paper · explained in 1 episode
• Generalized Advantage Estimation — 3× in this paper
• Regularization — 3× in this paper · explained in 3 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Actor-Critic Architecture — 2× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Credit assignment — 1× in this paper · explained in 3 episodes
• Edge Devices — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• International Conference on Machine Learning — 1× in this paper
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Continuous control with deep reinforcement learning
• Proximal Policy Optimization Algorithms
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• Learning Without Critics? Revisiting GRPO in Classical Reinforcement Learning Environments
• REINFORCE++: Stabilizing Critic-Free Policy Optimization with Global Advantage Normalization
• Group Policy Gradient

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