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cs.LG2026
Reinforcement Learning Enables Scaling Generalist Robot Policy Improvement
Michal Korniak, Marco Bagatella, Ralf Römer +21
The introduction of generalist robot policies has enabled a single, large model to learn to perform a variety of tasks from a vast pre-training corpus. While these models often exh…
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…