Author

Max Simchowitz

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Preprint Oct 2026

VaDar: Implicit Goal Conditioning via Value Disaggregation

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 subgoals, and learn a subgoal-conditioned policy to execute each subtask in sequence. We introduce an alternative called Value Disaggregation (...

Shashwat Saxena, Mehul Goel, Sreyas Venkataraman et al. · 0 citations

#machine learning Preprint Aug 2026

Adaptation of Generalist Robot Policies with Minimal Data

A central goal in robot learning is to move beyond task-specific human data collection toward robots that improve through autonomous interaction. Yet fully autonomous learning remains difficult with current policies: sparse rewards and weak zero-shot exploration make it unlikely that a robot will discover successful be...

Shreyas Kowshik, Sreyas Venkataraman, L. Wang et al. · 1 citation