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cs.RO2026
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats +5
Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been…
cs.RO2026
SOLE-R1: Video-Language Reasoning as the Sole Reward for On-Robot Reinforcement Learning
Philip Schroeder, Thomas Weng, Karl Schmeckpeper +3
Vision-language models (VLMs) have shown impressive capabilities across diverse tasks, motivating efforts to leverage these models to supervise robot learning. However, when used a…
cs.RO2026
You've Got a Golden Ticket: Improving Generative Robot Policies With A Single Noise Vector
Omkar Patil, Ondrej Biza, Thomas Weng +9
Generative robot policies trained on demonstrations using behavior cloning often learn actions that are sub-optimal or misaligned with respect to the downstream task. Policy improv…