{"id":"https://openalex.org/W4376864769","doi":"https://doi.org/10.48550/arxiv.2305.03270","title":"Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators","display_name":"Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4376864769","doi":"https://doi.org/10.48550/arxiv.2305.03270"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.03270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2305.03270","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102014112","display_name":"Alexander Herzog","orcid":"https://orcid.org/0000-0001-7671-1878"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Herzog, Alexander","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111514705","display_name":"Kanishka Rao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rao, Kanishka","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088777896","display_name":"Karol Hausman","orcid":"https://orcid.org/0000-0002-1504-6197"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hausman, Karol","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334841","display_name":"Yao Lu","orcid":"https://orcid.org/0000-0002-2803-534X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089600388","display_name":"Paul Wohlhart","orcid":"https://orcid.org/0000-0002-3669-2809"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wohlhart, Paul","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101503933","display_name":"Mengyuan Yan","orcid":"https://orcid.org/0000-0002-5427-4192"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Mengyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114031547","display_name":"Jessica Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Jessica","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104142242","display_name":"Montserrat Gonzalez Arenas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arenas, Montserrat Gonzalez","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025016495","display_name":"Ted Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Ted","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039293409","display_name":"Daniel Kappler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kappler, Daniel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084476585","display_name":"Daniel W. C. Ho","orcid":"https://orcid.org/0000-0001-9799-3712"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ho, Daniel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026579341","display_name":"Jarek Rettinghouse","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rettinghouse, Jarek","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001178359","display_name":"Yevgen Chebotar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chebotar, Yevgen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030702181","display_name":"Kuang-Huei Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Kuang-Huei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025695094","display_name":"Keerthana Gopalakrishnan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gopalakrishnan, Keerthana","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022656892","display_name":"Ryan R. Julian","orcid":"https://orcid.org/0000-0003-1580-8355"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian, Ryan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025313946","display_name":"Adrian Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Adrian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069825251","display_name":"Chuyuan Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Chuyuan Kelly","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041190706","display_name":"Bob Wei","orcid":"https://orcid.org/0009-0004-7801-280X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Bob","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011292468","display_name":"S. Ramesh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ramesh, Sangeetha","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112971074","display_name":"Khem Holden","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Holden, Khem","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091962999","display_name":"Kim Kleiven","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kleiven, Kim","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091963000","display_name":"David Rendleman","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rendleman, David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036680156","display_name":"Sean Kirmani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kirmani, Sean","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076509678","display_name":"Jeff Bingham","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bingham, Jeff","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112917329","display_name":"Jon Weisz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weisz, Jon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100652476","display_name":"Ying Xu","orcid":"https://orcid.org/0000-0002-5503-2929"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Ying","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014946139","display_name":"Wenlong Lu","orcid":"https://orcid.org/0000-0002-3237-1135"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Wenlong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058726487","display_name":"Matthew Bennice","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bennice, Matthew","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112971075","display_name":"Cody Fong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fong, Cody","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102540410","display_name":"David Do","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Do, David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101408481","display_name":"Jessica Lam","orcid":"https://orcid.org/0000-0003-2960-2374"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lam, Jessica","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042168221","display_name":"Yunfei Bai","orcid":"https://orcid.org/0000-0002-4088-4117"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Yunfei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027704536","display_name":"Benjie Holson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Holson, Benjie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029031282","display_name":"Michael Quinlan","orcid":"https://orcid.org/0000-0001-7877-1188"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Quinlan, Michael","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103122635","display_name":"Noah Brown","orcid":"https://orcid.org/0009-0007-2963-3425"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brown, Noah","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080415080","display_name":"Mrinal Kalakrishnan","orcid":"https://orcid.org/0000-0003-4292-9857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kalakrishnan, Mrinal","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053574266","display_name":"Julian Ibarz","orcid":"https://orcid.org/0000-0002-9920-6978"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ibarz, Julian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110692560","display_name":"Peter Pastor","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pastor, Peter","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Levine, Sergey","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":67},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9425,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bootstrapping","display_name":"Bootstrapping (finance)","score":0.5622852}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.717156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.69923013},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.69163644},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6721955},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.592705},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5660143},{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.5622852},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.52497476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.52331996},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.49048063},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4638071},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4325116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4212535},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3413357},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3404458},{"id":"https://openalex.org/C13736549","wikidata":"https://www.wikidata.org/wiki/Q4489420","display_name":"Industrial engineering","level":1,"score":0.32064575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16740462},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.13565138},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12627763},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.10715914},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.03270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.03270","pdf_url":"http://arxiv.org/pdf/2305.03270","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2305.03270","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.03270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.49,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W96612179","https://openalex.org/W3117246195","https://openalex.org/W2914363205","https://openalex.org/W2770234245","https://openalex.org/W2616249226","https://openalex.org/W2098233217","https://openalex.org/W2081850291","https://openalex.org/W1598221548","https://openalex.org/W156620619","https://openalex.org/W1534274833"],"abstract_inverted_index":{"We":[0,91],"describe":[1],"a":[2,14,76,104,124,134],"system":[3,52],"for":[4],"deep":[5,28,55],"reinforcement":[6],"learning":[7],"of":[8,27,88,95,118,121,126,138,141,149,166,176,184],"robotic":[9,142],"manipulation":[10],"skills":[11],"applied":[12],"to":[13,40,78,81,160],"large-scale":[15,105],"real-world":[16,42,58,112,179],"task:":[17],"sorting":[18],"recyclables":[19],"and":[20,44,66,102,181,193],"trash":[21],"in":[22,64,99,129,158,162,170],"office":[23,131],"buildings.":[24],"Real-world":[25],"deployment":[26],"RL":[29,56],"policies":[30],"requires":[31],"not":[32],"only":[33],"effective":[34],"training":[35,43,63,110,136],"algorithms,":[36],"but":[37],"the":[38,86,93,116,164,167,173,182,185],"ability":[39],"bootstrap":[41],"enable":[45],"broad":[46],"generalization.":[47],"To":[48],"this":[49],"end,":[50],"our":[51,100,171],"combines":[53],"scalable":[54],"from":[57,62,70],"data":[59,113],"with":[60,133],"bootstrapping":[61],"simulation,":[65],"incorporates":[67],"auxiliary":[68],"inputs":[69],"existing":[71],"computer":[72],"vision":[73],"systems":[74],"as":[75],"way":[77],"boost":[79],"generalization":[80],"novel":[82,188],"objects,":[83],"while":[84],"retaining":[85],"benefits":[87],"end-to-end":[89],"training.":[90],"analyze":[92],"tradeoffs":[94],"different":[96],"design":[97,168],"decisions":[98,169],"system,":[101,172],"present":[103],"empirical":[106],"validation":[107,146],"that":[108],"includes":[109],"on":[111,187],"gathered":[114],"over":[115],"course":[117],"24":[119],"months":[120],"experimentation,":[122],"across":[123,153],"fleet":[125],"23":[127],"robots":[128],"three":[130],"buildings,":[132],"total":[135],"set":[137],"9527":[139],"hours":[140],"experience.":[143],"Our":[144],"final":[145],"also":[147],"consists":[148],"4800":[150],"evaluation":[151],"trials":[152],"240":[154],"waste":[155],"station":[156],"configurations,":[157],"order":[159],"evaluate":[161],"detail":[163],"impact":[165],"scaling":[174],"effects":[175],"including":[177],"more":[178],"data,":[180],"performance":[183],"method":[186],"objects.":[189],"The":[190],"projects":[191],"website":[192],"videos":[194],"can":[195],"be":[196],"found":[197],"at":[198],"\\href{http://rl-at-scale.github.io}{rl-at-scale.github.io}.":[199]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4376864769","counts_by_year":[],"updated_date":"2025-01-20T06:43:52.939905","created_date":"2023-05-18"}