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A growing family of methods uses such controllers as queryable experts during RL, but each method has been proposed in isolation, on a different benchmark, without imperfect-expert testing. We harmonize the comparison on a shared SAC backbone, common HPO and evaluation protocols, 100/50 seeds per (env, method), and a degradation sweep over expert undertuning, action bias, and observation noise. The comparison surfaces three failure modes single-paper evaluations miss: (F1) a critic blind spot under argmax-plus-bootstrap that drags IBRL below no-expert SAC on experts close to the no-expert-RL ceiling (RL-near-ceiling, distinct from the absolute physical ceiling); (F2) residual saturation on far-from-optimal experts; and (F3) warm-start buffer poisoning that collapses training-time-handoff methods under deployment-time expe","title":"When (and How) to Trust the Expert: Diagnosing Query-Time Expert-Guided Reinforcement Learning","url":"https://arxiv.org/abs/2605.09109","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.09109v1 Announce Type: new \nAbstract: Many continuous-control problems ship with a competent but suboptimal controller (a tuned PID, a hand-designed gait). A growing family of methods uses such controllers as queryable experts during RL, but each method has been proposed in isolation, on a different benchmark, without imperfect-expert testing. We harmonize the comparison on a shared SAC backbone, common HPO and evaluation protocols, 100/50 seeds per (env, method), and a degradation sweep over expert undertuning, action bias, and observation noise. The comparison surfaces three failure modes single-paper evaluations miss: (F1) a critic blind spot under argmax-plus-bootstrap that drags IBRL below no-expert SAC on experts close to the no-expert-RL ceiling (RL-near-ceiling, distinct from the absolute physical ceiling); (F2) residual saturation on far-from-optimal experts; and (F3) warm-start buffer poisoning that collapses training-time-handoff methods under deployment-time expe","title":"When (and How) to Trust the Expert: Diagnosing Query-Time Expert-Guided Reinforcement Learning","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-12T04:43:42Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.09109"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:8d83361c5a5236d78bee520105746f8d1a117671e8bb1ce7aa9201344e87514d470a01474b4536829935322055b3090a792d96215125bfbe949d4f9c04869b0e","signer":"crovia.substrate","subject":{"observed_at":"2026-05-12T04:43:42Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.09109"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"590dfda039dc719b1ef4cf354dfce30433b806d542fd43677fc8a1e95f885ca0","leaf_index":128301,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"d81d8ee6654560152bf584f1402b7088887bd3a0245ab006ccb47b74252b52ae","side":"left"},{"sibling":"f420f9ee19e4c943129157e36c3fe54225869c478ee675df96c2be2a1c6e6a23","side":"right"},{"sibling":"2ff9cb61af4df2e1873217010655d55f833b82c21e096c22acb74e3898c68387","side":"left"},{"sibling":"d6a6e32a22612b2d53c87e644e40daebe34f76cf3b1aaf8d6ca88ae3dc5c2b7e","side":"left"},{"sibling":"ba9f15f2395ee324d27754c24ef1b741fdb0e95647a7d27f949f69e616b06790","side":"right"},{"sibling":"1ec3b602a04479d860d43cc787fa37c5a6b9d236039646388e38002a54df7e5b","side":"left"},{"sibling":"36b72adf8f4027d1a6a05d7a02a6b5b374f1f82055a2144c22a6e8e86b961927","side":"right"},{"sibling":"606e431ab526a2729c7a10ae34c1890601117997719a643180d252ace34a222e","side":"right"},{"sibling":"aa3ddc60ad25fcdd4bf93520d8baeca26d807789d80fb0deffbb19c4f8882286","side":"left"},{"sibling":"077005bbaed7b42537914de0b512ed52d33243215eab288181aba807d37bf04e","side":"right"},{"sibling":"c6eaf7a4fcab2db96e9e9423acb6922c80f64882d0f3f50d09e53a4807d23084","side":"left"},{"sibling":"df12eaabc0a370aff5d0488478f48d2b3f90d025c903643f98ea804b017688ec","side":"right"},{"sibling":"ffc4d51379293bc3e1910c7d612f409dc610fd9acf8241793fb89f82e1bad4ef","side":"left"},{"sibling":"62ac6554017807bd83187f5a3e5f4f72d6c482616429c2780e9fff1f4845fa04","side":"left"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_c8a30c4825527c223b8c187d3565b0f8b7263846065c1fe2658e22c3a2e94d45"}}