Author

Marvin Alles

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#machine learning Preprint Oct 2026

Dream to Remember: Continual Steering of Generalist Robot Policies with World Models

Generalist robot policies are trained with imitation learning and are bounded by the quality and coverage of their demonstrations. Reinforcement learning can improve and extend them, either by fine-tuning the policy weights or by training a small module to steer the input noise of a frozen generative policy. When tasks...

Bahey Tharwat, Iman Nematollahi, Marvin Alles et al. · 0 citations

Jul 2026

ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation

Experiments demonstrate that ConFlow achieves lower collision rates and higher trajectory quality than standard flow matching baselines, with or without inference-time guidance, and validate training-time constraint integration as an effective approach to closing the training--inference gap in generative motion models.

Nutan Chen, Jianxiang Feng, Marvin Alles et al. · arXiv.org · 0 citations