arXiv:2611.03501v2 Announce Type: replace Abstract: Conventional robot arms can be extremely heavy compared with the everyday objects they manipulate, creating a significant inertia mismatch at contact. Even a small accidental bump from a heavy arm can knock a light object out of place. Modern learning methods have nevertheless demonstrated a wide range of successful manipulation behaviors on these platforms, suggesting that even extreme inertia mismatch can be overcome with sufficient data. However, it remains unclear whether high inertia imposes a hidden cost on learning, potentially worsening scaling with data or lowering the performance ceiling of modern robot learning methods. We investigate this question through controlled simulation experiments that vary robot and object masses. We find that reinforcement learning succeeds across a broad range of mass combinations, while behavior cloning learns more reliable policies when a lighter robot manipulates a heavier object. Heavier robots require more demonstrations to attain the same performance as lighter robots. Finally, because new hardware is rarely an option, we explore ways to lower an existing arm's inertia at contact with existing hardware, either by choosing a lower-inertia workspace before collecting data or by steering the demonstrator toward lower-inertia configurations during the task. In both cases, the lower-inertia demonstrations are imitated more reliably. Project website: https://younghyopark.me/inertia-mismatch/