3 papers
cs.RO2026
Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling
Carlos Vélez García, Miguel Cazorla, Jorge Pomares
Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state.…
cs.RO2025
Planning as Descent: Goal-Conditioned Latent Trajectory Synthesis in Learned Energy Landscapes
Carlos Vélez García, Miguel Cazorla, Jorge Pomares
We present Planning as Descent (PaD), a framework for offline goal-conditioned reinforcement learning that grounds trajectory synthesis in verification. Instead of learning a polic…
cs.CV2025
Escaping The Big Data Paradigm in Self-Supervised Representation Learning
Carlos Vélez García, Miguel Cazorla, Jorge Pomares
The reliance on large-scale datasets and extensive computational resources has become a major barrier to advancing representation learning in vision, especially in data-scarce doma…