Author

Maks Sorokin

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#machine learning Preprint Sep 2026

Reward as Observation: Learning Reward-Based Policies for Rapid Adaptation

This paper explores a reward-based policy to achieve zero-shot transfer between source and target environments with completely different observation spaces. While humans can demonstrate impressive adaptation capabilities, deep neural network policies often struggle to adapt to a new environment and require a considerab...

Morgan Byrd, Jacob Blevins, Maks Sorokin et al. · 0 citations

Preprint Aug 2026

Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL

This work uses Sample-based Model Predictive Control entirely in simulation as an automated, rapidly tunable expert to generate massive offline datasets and validate the robustness of this sim-to-real framework by successfully deploying complex loco-manipulation skills across different morphologies.

Martin Schuck, Maks Sorokin, S. Manni et al. · 1 citation