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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2507.19555 |
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Table of Contents:
- Group Relative Policy Optimization (GRPO) has shown promise in discrete action spaces by eliminating value function dependencies through group-based advantage estimation. However, its application to continuous control remains unexplored, limiting its utility in robotics where continuous actions are essential. This paper presents a theoretical framework extending GRPO to continuous control environments, addressing challenges in high-dimensional action spaces, sparse rewards, and temporal dynamics. Our approach introduces trajectory-based policy clustering, state-aware advantage estimation, and regularized policy updates designed for robotic applications. We provide theoretical analysis of convergence properties and computational complexity, establishing a foundation for future empirical validation in robotic systems including locomotion and manipulation tasks.