Author

Abhinav Mahajan

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#artificial intelligence Apr 2026

Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation

This work introduces Wiggle and Go!, a two-stage framework for zero-shot rope manipulation: a brief, safe wiggle action is observed to predict descriptive rope parameters, which then conditions a trajectory optimizer for zero-shot goal-conditioned execution.

Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu et al. · arXiv.org · 1 citation · ⚡1

#machine learning Preprint Aug 2026

MERIT: Mitigating Exposure Bias in Generative XMC for User-Interest Propensity Modeling

Matching users to interest categories at scale is central to personalized shopping, but the task is challenging in large e-commerce platforms, where label spaces continually evolve and user-interest signals are sparse and long-tailed. Autoregressive language models are appealing because their world knowledge and semant...

Abhinav Mahajan, Arindam Sarkar, Prakash Mandayam Comar · 0 citations