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cs.LG2026
VaDar: Implicit Goal Conditioning via Value Disaggregation
Shashwat Saxena, Mehul Goel, Sreyas Venkataraman +2
Long-horizon tasks are important for modern AI and robotics, yet pose a challenge for reinforcement learning. Historically, a popular approach has been to decompose a task into sub…
cs.LG2026
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14
Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-pol…