arXiv:2610.27606v1 Announce Type: new Abstract: Offline reinforcement learning is fundamentally limited by the coverage of the available data, while collecting additional trajectories through online exploration may be costly, unsafe, or infeasible. We study whether this limitation can be overcome without directly interacting with the underlying environment. Motivated by practical settings such as collaborator-mediated simulation, where a collaborator can provide information complementary to the offline data, we introduce query-based collaborative reinforcement learning to study how to acquire this information efficiently. The learner starts with a fixed offline dataset and adaptively queries state-time pairs; the collaborator samples an action according to a fixed, possibly suboptimal policy, and the simulator returns the corresponding reward and next state. For finite-horizon tabular problems, we derive an instance-dependent information-theoretic lower bound on the additional queries required to identify an $\epsilon$-optimal policy and develop a local quadratic approximation. Guided by this characterization, we develop an adaptive query-allocation algorithm whose query complexity nearly matches the local benchmark under suitable conditions. Experiments on multiple synthetic and semi-synthetic environments demonstrate the empirical efficiency of the proposed method.