Author

Davide Torielli

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Preprint Aug 2026

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

A unified framework that combines centralized training with decentralized execution (CTDE) and a Hybrid Reward Architecture (HRA) is introduced that enables multiple actors to share a centralized multi-head critic and substantially improves both sample efficiency and policy performance.

Changhao Li, Yifang Zhang, Heng Zhang et al. · 0 citations