CORMA: Constraint-Routed Decision Mamba for Generalizable Multi-Constraint Offline Safe Reinforcement Learning

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Offline safe reinforcement learning (RL) learns safety-aware policies from static datasets while satisfying safety constraints during deployment. Motivated by the strong trajectorymodeling capabilities of Transformers, recent Decision Transformer (DT)-based methods formulate offline safe RL as conditional sequence modeling by conditioning action generation on return-to-go (RTG) and cost-to-go (CTG) tokens, thereby enabling adaptation to varying safety budgets. However, existing DT-based methods are developed for single-constraint tasks. For tasks with multiple constraints, generalizing learned policies to unseen combinations of safety budgets remains challenging due to the conflicting requirements imposed by heterogeneous constraints. Moreover, the quadratic complexity of Transformer architectures significantly increases the computational overhead in multi-constraint tasks, as representing additional constraints requires more CTG tokens. Recently, Mamba has emerged as an efficient sequence-modeling backbone, offering linear computational complexity and strong generalization capabilities. In this paper, we propose CORMA, a constraint-routed decision Mamba framework for generalizable multi-constraint offline safe RL. CORMA decomposes policy inference into constraint-aware RTG estimation and adaptive action generation, where constraint-specific experts model feasible RTG distributions and a router-guided product-of-experts mechanism fuses these distributions to provide safety-aware guidance for a Mamba-based action decoder. A three-stage optimization strategy is designed to improve training stability. Extensive experiments on OSRL benchmarks demonstrate that CORMA achieves superior reward-safety trade-offs, reduces inference latency by 37% compared with DT-based methods, and exhibits stronger zero-shot generalization to unseen safety-budget combinations than offline safe RL baselines.

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  arXiv (Cornell University) 2026 · 0 citations