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cs.RO2025
Model-Based Adaptive Precision Control for Tabletop Planar Pushing Under Uncertain Dynamics
Aydin Ahmadi, Baris Akgun
Data-driven planar pushing methods have recently gained attention as they reduce manual engineering effort and improve generalization compared to analytical approaches. However, mo…
cs.LG2025
Failure Modes of Maximum Entropy RLHF
Ömer Veysel Çağatan, Barış Akgün
In this paper, we show that Simple Preference Optimization (SimPO) can be derived as Maximum Entropy Reinforcement Learning, providing a theoretical foundation for this reference-f…