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Author

Shuran Song

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#machine learning Preprint Oct 2026

Mulligan: Performance-Guided Data Collection for Efficient On-Robot Learning

Learning from human demonstrations is a reliable way to teach robots new tasks, but the gains from each additional demonstration shrink as the policy improves. Continued improvement can instead come from supervised deployment, where an operator places the objects and intervenes when the policy fails. We ask how to maxi...

Lars Ankile, Perry Dong, R. Bhowmik et al. · 0 citations
Preprint Aug 2026

Memory Anchors for Continual Robot Learning

Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting existing behaviors. A common approach to combat such catastrophic forgetting is to train on new task data with a replay buffer of previously learned task data. Although this buffer is commonly sampled random...

Maximilian Du, Zhanyi Sun, Chen Xu et al. · 0 citations

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