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Author

Sarvesh Patil

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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 Sep 2026

Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers

This paper introduces a framework based on spatially conditioned Multi-Agent Transformers to efficiently learn robust control policies for a DDM system grounded in an array of 64 soft delta robots arranged in an 8x8 grid and proposes an action selection formulation to analyze the trade-off between task performance and...

Sarvesh Patil · 0 citations

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