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Author

Aviral Kumar

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Preprint Sep 2026

SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation

This work introduces SeeQ (Subtask-elicited Q-functions), which instead learns Q-values for the currently active subtask, which substantially improves best-of-N policy steering on real-world manipulation tasks.

Saksham Singh, Zhe-Yuan Hu, Max Sobol Mark et al. · 0 citations
Jun 2026

Addressing Over-Refusal in LLMs with Competing Rewards

The resulting model SEAR deliberately engages in harmful reasoning as exploration while reliably flipping back to a safe answer, demonstrating that this behavior helps mitigate over-refusal and defend against attacks that directly manipulate the reasoning to be harmful.

Taeyoun Kim, Aviral Kumar · 0 citations

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