# Real-world robot offline RL

Area: [Offline RL and imitation learning from data](https://mlsanity.com/offlinerl/index.md). HTML: https://mlsanity.com/offlinerl/real-world-robot-offline-rl/

## Key facts

- Real-world robot offline RL: 86 papers on arXiv since 2019 (data through 14 Oct 2026).
- 9 of its 86 mapped papers (10%) cite “COG: Connecting New Skills to Past Experience with Offline Reinforcement Learning” (2020, arXiv 2010.14500).
- 7 of its 86 mapped papers (8%) cite “What Matters in Learning from Offline Human Demonstrations for Robot Manipulation” (2021, arXiv 2108.03298).
- 3 new papers 17 Sep–14 Oct.

## Most cited here

- [COG: Connecting New Skills to Past Experience with Offline Reinforcement Learning](https://mlsanity.com/paper/2010.14500/) (2020), cited by 9 papers here
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021), cited by 7 papers here
- [Offline Meta-Reinforcement Learning for Industrial Insertion](https://mlsanity.com/paper/2110.04276/) (2021), cited by 4 papers here
- [Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills](https://mlsanity.com/paper/2104.07749/) (2021), cited by 3 papers here
- [LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion](https://mlsanity.com/paper/2311.02496/) (2023), cited by 3 papers here
- [Scaling data-driven robotics with reward sketching and batch reinforcement learning](https://mlsanity.com/paper/1909.12200/) (2019), cited by 2 papers here
- [Model-Based Inverse Reinforcement Learning from Visual Demonstrations](https://mlsanity.com/paper/2010.09034/) (2020), cited by 1 papers here
- [How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-based Robotic Manipulation](https://mlsanity.com/paper/2205.03353/) (2022), cited by 1 papers here
- [Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning](https://mlsanity.com/paper/2207.03034/) (2022), cited by 1 papers here
- [Pre-Training for Robots: Offline RL Enables Learning New Tasks from a Handful of Trials](https://mlsanity.com/paper/2210.05178/) (2022), cited by 1 papers here

## New (17 Sep–14 Oct)

- [Teaching a Robot Dog New Tricks: Diverse Quadruped Skills via Combined Reinforcement and Imitation Learning with Adversarial Task Selection](https://mlsanity.com/paper/2610.10601/) (2026-10-06)
- [SynIL: Leveraging Synergy for Offline Imitation Learning from Imperfect Demonstration Datasets](https://mlsanity.com/paper/2609.38225/) (2026-09-28)
- [Beyond Kinematics: Benchmarking Simulation Fidelity for Muscle-Driven Imitation Learning](https://mlsanity.com/paper/2609.21909/) (2026-09-18)