Author

Nicholas Rhinehart

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Preprint Oct 2026

Post-Training, Finetuning, and Steering:A Field Guide for Curating Training Data

While Vision-Language-Action models have enabled impressive cross-task transfer in zero-shot settings, \emph{adaptation} methods are often necessary to achieve consistent performance on novel tasks. However, even though a wealth of methods for adaptation have been proposed, it is unclear how to choose the best method b...

Maria Attarian, Yi-Fan Ruan, Claas A Voelcker et al. · 0 citations

#machine learning Preprint Oct 2026

World-Model Policy Arbiter for Goal-Conditioned Reinforcement Learning

Offline goal-conditioned reinforcement learning (GCRL) has produced a diverse set of goal-reaching algorithms, yet no single algorithm performs best across environments, goals, and even different phases of the same task. Rather than deploying only the best-performing policy, we ask whether a set of frozen goal-conditio...

Jun-Wei Quan, E. Opryshko, Nicholas Rhinehart et al. · 0 citations