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Author

Riyaaz Shaik

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#artificial intelligence Preprint Sep 2026

REVERSAL-BENCH: A Reversibility Axis and Reset Oracle for Measuring the Reset-Free RL Cliff

REVERSAL-BENCH is introduced, a benchmark that controls reversibility via a continuous parameter $\rho$ and provides a reset oracle, a ground-truth verification mechanism to test state recoverability across eight manipulation settings in five physics engines and a safety shield that intervenes before irreversible failu...

Riyaaz Shaik, Chandru Venkataraman · 0 citations
#artificial intelligence Preprint Sep 2026

REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs

Adding an auxiliary supervised contrastive (InfoNCE) loss during world-model warmup substantially improves sleep-phase clustering, and adding an auxiliary supervised contrastive loss during world-model warmup substantially improves sleep-phase clustering on LIBERO.

Riyaaz Shaik, Chandru Venkataraman · 0 citations

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