Author

Zachary Kingston

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Preprint Sep 2026

Safe Real-Time Policy Steering via Noise-Space Trajectory Optimization for One-Step Generative Policies

Generative robot policies can represent diverse, multimodal behaviors, but adapting pretrained policies to deployment-time constraints such as collision avoidance and orientation maintenance remains challenging. Existing inference-time steering methods typically apply gradient guidance through iterative diffusion or fl...

Qing-Yi Chen, Joseph Ruan, Zachary Kingston · 0 citations

Open access Aug 2026

Parallel Heuristic Search as Inference for Actor-Critic Reinforcement Learning Models (Extended Abstract)

Actor-critic models are a class of model-free deep reinforcement learning (RL) algorithms that have demonstrated effectiveness across various robot learning tasks. While considerable research has focused on improving training stability and data sampling efficiency, most deployment strategies have remained relatively si...

Itamar Mishani, Hanlan Yang, Luca Pivetti et al. · Proceedings of the Internati... · 0 citations