Author

Preston Culbertson

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Jul 2026

A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation

Through systematic hardware experiments, this work identifies and analyze the key factors that govern sim-to-real transfer in dexterous manipulation, offering practical guidance for retargeting-based learning in contact-rich settings.

Yunhai Feng, Natalie Leung, Jiaxuan Wang et al. · arXiv.org · 1 citation

Preprint Aug 2026

Decoding Task Progress from VLA Representations

The results suggest that VLAs have rich, linearly readable internal representations of semantic quantities like task progress, and that learning to read these signals offers a lightweight, interpretable path toward monitoring deployed visuomotor policies.

Atiksh Bhardwaj, E. W. Duan, Prithwish Dan et al. · 0 citations