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Nika Haghtalab

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#artificial intelligence Preprint Oct 2026

Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents

Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model wei...

Yen-Jen Wang, Hao-Zhe Jiang, Shu-Ying Deng et al. · 0 citations
#artificial intelligence Preprint Sep 2026

Inference Auctions

When inference demand exceeds available compute capacity, model providers must decide which requests should be served first. Users have different tolerances for delay from an LLM API, but current priority pricing schemes compress these differences into coarse fixed-price service tiers. We design an inference auction th...

Keegan Harris, Siddharth Prasad, Asher Trockman et al. · 0 citations
Preprint Aug 2026

Computationally Efficient Collaborative Communication Via Regularity-Based Coarsening

The results strictly weaken the assumptions required by prior work in the multi-agent information aggregation literature, filling a gap that had remained elusive even for games with constant $CC_\alpha(G)$.

Mark Bedaywi, Scott Emmons, Nika Haghtalab et al. · 0 citations
#artificial intelligence Preprint Sep 2026

Learn Your Own Thoughts: Abstract Token Curriculum

Large Language Models (LLMs) have achieved remarkable reasoning capabilities by utilizing chain-of-thought (CoT) as a scratchpad for intermediate stages of thinking. However, CoT techniques require explicit supervision on thinking tokens, which requires rich, task-specific data. In this work, we propose Abstract Token...

Khashayar Gatmiry, Avrajit Ghosh, Parsa Mirtaheri et al. · 0 citations
#machine learning Preprint Sep 2026

Distortion of AI Alignment Revisited: RLHF is a Decent Utilitarian Aligner

While Reinforcement Learning from Human Feedback (RLHF) is the standard paradigm for aligning large language models with human preferences, its effectiveness in pluralistic settings has been called into question. Notably, recent work by G\"olz et al. (2025) demonstrated that the \textit{distortion} -- defined as the mu...

Kazusato Oko, Annie Ulichney, Nika Haghtalab et al. · 3 citations · ⚡1
Jul 2026

Provably Optimal Learning Algorithms for Assistance Games

The notion of assistance regret is introduced: the gap between the cumulative utility of interactions and that of the optimal joint policies in hindsight, which map latent states to action pairs, is introduced.

Nivasini Ananthakrishnan, Mark Bedaywi, Michael I. Jordan et al. · 0 citations

Post-Training at the Edge of Detectability: A Game-Theoretic Approach to Fine-Tuning

This work proposes a game-theoretic framework that gives this reward-retention trade-off an explicit statistical interpretation, and provides a principled method for learning this equilibrium coefficient via reduction to the KL-regularized RL objective, thus allowing for flexible integration into standard fine-tuning p...

Keegan Harris, Brian Lee, Ian Waudby-Smith et al. · 0 citations

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