Author

Alberto Maria Metelli

Politecnico di Milano

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Preprint Aug 2026

Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?

Action chunking---predicting and executing multiple actions instead of a single action---has proven to be a critical component for learning effective robotic control policies. However, our precise understanding of why action chunking improves performance has remained limited. In this work we seek to close this gap. Thr...

Filippo Lazzati, Kyle Stachowicz, William Chen et al. · 5 citations

Jul 2026

Generalizing Preference-based Reinforcement Learning: a Rationality Model for Incomparability

This work generalizes preference-based RL by formalizing a novel setting in which the expert can also label trajectory pairs as incomparable, i.e., when neither trajectory dominates the other.

Simone Drago, Marco Mussi, L. Bianconi et al. · arXiv.org · 0 citations