My first last-author paper, with @lakshitadodeja and @rai_inst collaborators! When deploying Behavior Cloning (BC) policies, we encounter performance gaps due to compounding error, subtle task shifts, etc. We want to be able to post-train BC policies with a few online interactions to quickly improve performance. Q2RL is what we hoped for in a robot post-training algorithm: - ✅it starts with BC policy rollouts (no need for large, diverse datasets), and - ✅it's sample-efficient enough for real-world online reinforcement learning! See the thread and linked website for more details. Paper and code are released!

I’m attending #ICLR2026 in Rio this week to present LPWM! Friday April 24 Poster Session 3 10:30, Oral Session 4B 3:15p. Happy to chat about self-sup object-centric learning and world models. I’ll be on the job market soon and looking for exciting opportunities! #ICLR @iclr_conf

I’m so tired of writing rebuttals to this kind of “lack of novelty” review: “This paper trivially combines A, B, and C, so the algorithmic novelty is limited.” Technically, most (if not all) robotics papers are convex combinations of existing ideas. I still deeply appreciate A B C papers—especially when they deliver: - New capabilities: the “trivial combination” unlocks behaviors we simply couldn’t achieve before - Sensible & organic design: A B C is clearly the right composition—not some arbitrary A′ B C′ - Nontrivial interactions: careful analysis of the dynamics, coupling, or failure modes between A, B, C - Rehabilitating old ideas: A was dismissed for years, but paired with modern B/C, it suddenly works—and teaches us why - System-level & "interface" insight: the contribution is not any single piece, but how the pieces talk to each other - Scaling laws or regimes: identifying when/why A B C works (and when it doesn’t) - Engineering clarity: making something actually work robustly in the real world is not “trivial” - New problem formulations: sometimes the real novelty is in the reformulation—only under this view does A B C make sense. Maybe worth keeping these in mind when reviewing the next A B C paper : )

Excellent analysis by @Majumdar_Ani, recommended read!

🚀 #ICLR2026 Oral 💥 How can we design world models that capture object interactions directly from pixels? Introducing Latent Particle World Models-the first end-to-end self-supervised, object-centric world model, trained from videos, supporting action/img/lang conditioning. 1/n

I am filling out a fellowship application letter of recommendation, and one question is: "Applicant's achievements reflect his or her ability: * - select -Not at All; Well; Moderately Well; Very Well; Extremely Well". If I select "Well" then what does that imply?

What are the best slides you have seen to explain transformers to someone who has never seen them before?

Introducing FMVP: a method that adapts to natural arm motions during robot-assisted dressing. Pre-trained on vision in sim, fine-tuned with limited real-world vision force data, and tested in a 12-user, 264-trial study, FMVP is robust across garments and motions. #CoRL2025

Check out our new CoRL paper on how to find shapes that cause failures for robot manipulation policies!

Check out our CoRL 2025 paper on learning from past interactions; we show, theoretically and experimentally, the benefit of using a generator-verifier paradigm!

Check out our new CoRL paper on planning in continuous action spaces by searching over sequences of object transformations!

Check out our latest work on opening unseen articulated objects in the real world; this is a single policy that operates zero-shot on 3 robot embodiments! Key insights: 1) Large-scale sim training 2) Hierarchical imitation learning

Does anyone have a copy of the ShapeNetSem dataset? The Sshapenet website is having issues for downloading the dataset. Thanks!!

A colleague mentioned this to me today and I just checked it: ChatGPT still cannot count the number of r's in strrrawberrrrry: chatgpt.com/share/67dd8bef-2…

I am Jewish and a faculty. When the current administration cancels grants and attempts to deport students in the name of "protecting Jews from antisemitism" they are not speaking for me or defending me. They are using us as a totem to attack universities and immigration

Accepted to ICRA, 2025!🎉

Checkout our new NeurIPS paper on using differentiable trajectory optimization for deep RL and IL! Join our poster session at Friday 11-2. Ziyu will present this paper (he is also applying for grad schools this cycle)

Excited to share our recent work on CoRL2024, We enable quadruped robots to manipulate (flip &push) objects combined with locomotion. The whole visual policy is trained end2end by RL and controlled by MPC. More details can be found on our website: legged-manipulation.github.i…

[1/N] Ambiguities are common in manipulation: objects can be inherently multimodal (e.g., fully-closed doors🚪), and severe occlusions add uncertainty! This poses challenges to deterministic models. Check out FlowBotHD🤖, a history-aware diffusion handling ambiguities #CoRL2024