Author

Qi-Ming Zhang

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Preprint Sep 2026

GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control

Group Relative Return Policy Optimization (GR2PO), a critic-free reinforcement learning framework for continuous robot control, is proposed and significantly outperforms critic-free baselines that use immediate rewards and performs competitively against state-of-the-art actor-critic methods.

Pengqin Wang, Qi-Ming Zhang, Shao-Jie Shen et al. · 0 citations