Author

Robert K. Katzschmann

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Preprint Aug 2026

ReBRAC-v2: The Return of the King

ReBRAC-v2 is introduced, which directly trains an exact-likelihood normalizing flow as the RL actor, combines likelihood, MSE, and MAE behavior regularization, and integrates a classification-based residual critic, staged optimization, and multi-sample test-time action selection, and ranks first in eight categories.

Denis Tarasov, Robert K. Katzschmann · 0 citations

#artificial intelligence Preprint Jul 2026

Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models

Mask2Real-WM is presented, a two-stage action-conditioned world model for dexterous manipulation that decouples pixel prediction into a dynamics model and a rendering model that shows that mask conditioning and simulation pretraining are both required for per-DoF action controllability across all 23 degrees of freedom.

Riccardo Feingold, Davide Liconti, Chenyu Yang et al. · 1 citation