arXiv subjects

John Marangola

Publications and source records attributed to John Marangola.

6 recordsLinked to original sources

arXiv2026

Workspace Models: Lightweight Robotic Memory via Saliency-Driven Supervision

Complex robotic manipulation tasks frequently require a long-term memory of past events and actions. As conditioning on full histories renders policies prone to spurious correlations and degrades performance, many approaches to policy memory involve compressing historical information through expensive VLM queries in-the-loop to process only task-salient information. In this paper, we propose an alternative approach in which computationally intensive VLM queries are made during train-time to learn a lightweight latent memory that can be efficiently queried at deployment time. Our representation, which we call the workspace token, is trained by (1) using a VLM to identify current and historical information necessary for completing a task, then (2) distilling these into the workspace token using a set-reconstruction decoder loss. In both simulation and hardware, we show that the workspace token can be used as a drop-in replacement for observations during deployment, enabling policies to solve memory-intensive tasks without the need for VLM reasoning in-the-loop, in effect serving as a latent harness for distilling a stronger reasoning models ability to solve long-horizon tasks to a reactive robotic policy. We further demonstrate that the workspace tokens are not only more lightweight, but also lead to better policy performance compared to conditioning policies on explicit modalities like curated past image frames, motivating a latent approach to history curation and reasoning model harnesses more broadly.

cs.RO↗

arXiv2026

DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation

Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More recent designs have adopted backdrivable actuation, but are still difficult to model and control due to coupled kinematics or high mechanical inertia from heavy links. We present DexWrist, a compact robotic wrist combining quasi-direct-drive actuation with a decoupled parallel kinematic mechanism to advance manipulation in highly constrained environments and enable dynamic, contact-rich tasks. It delivers 3.75$\pm$0.05 Nm rated torque, 0.33$\pm$0.06 Nm backdrive torque, 10.15$\pm$1.34 Hz torque bandwidth, $\pm 40^\circ$ ROM in both DOFs, and a diagonal velocity-constraint Jacobian (one-to-one motor-to-DOF mapping) in a 0.97 kg package. In practice, these properties increase workspace in clutter and stabilize contact without finely tuned admittance control. We evaluate DexWrist as a drop-in upgrade in simulation and on three robot arms across constrained and contact-rich tasks. In learned policy evaluations on the AgileX PiPER and UR3e, DexWrist achieved 50-76% relative improvements in success rate and reduced autonomous task completion times by 3-5x; on a torque-controlled Franka FR3, where a strong joint-impedance baseline already succeeds, it still completed the task 1.4x faster. Project page and videos: https://martinpeticco.com/dexwrist

cs.RO↗

arXiv2026

Prompt-Driven Exploration: Language as an Exploration Space for VLA Reinforcement Learning

Exploration is essential to RL since a policy cannot improve by repeatedly sampling the behaviors it already prefers. Standard methods inject stochasticity in the action space, but such jitter only yields rollouts close to the original. Escaping a weak policy often requires global perturbations that action noise cannot produce. Large language models (LLMs) and vision-language-action (VLA) models offer a pathway: they condition the policy on a natural language prompt, and since the rollout follows from it, modifying the prompt induces global changes. The challenge is finding prompts that induce useful global changes. With a weak policy that rarely succeeds, reward is too sparse to select on. Our idea is to refine prompts from the rollouts themselves: a vision-language model (VLM) reasons over the rollout video, diagnoses how the policy responded, and rewrites the prompt to elicit better behavior next time. This procedure resembles posterior sampling, a classical RL exploration framework, at the level of prompts: the VLM maintains an implicit distribution over useful prompts and updates it from observed rollouts. We call this strategy Prompt-Driven Exploration (PDE). Across manipulation and reasoning tasks, PDE enables RL to learn successful policies even from zero-reward starts, and improves sample efficiency more broadly. Our website is available at https://xinyunsunshine.github.io/prompt-rl.

cs.LG↗

arXiv2026

Learning More from Less: Reinforcement Learning from Hindsight

Reinforcement learning (RL) is increasingly used to post-train vision-language-action (VLA) models, but every update consumes robot rollouts that are slow and costly to collect, making sample efficiency a central concern. Manipulation tasks typically provide only sparse rewards, so a weak policy fails almost every rollout early in training and has little to learn from, even when those failures execute coherent behavior. Such a failure, however, is a success at a different task. We present Learning from Hindsight (LfH), which brings hindsight relabeling to RL post-training of VLAs by scoring failed rollouts against the tasks they actually achieved. A single vision-language model relabels both the instruction and the reward, proposing a hindsight instruction for a group of failed rollouts and scoring how well each satisfies it, and the policy trains on the relabeled and original rollouts jointly. Because VLAs generalize across language, relabeling in language lets the policy learn more from the same trajectories. On out-of-distribution LIBERO-PRO tasks, where standard RL improves only slowly, LfH achieves $5\times$ improvement in sample efficiency, and outperforms a dense progress-reward baseline. The gains hold across VLA backbones and on a physical Franka robot.

cs.LG↗

arXiv2025

Constraints on the perfect phylogeny mixture model and their effect on reducing degeneracy

The perfect phylogeny mixture (PPM) model is useful due to its simplicity and applicability in scenarios where mutations can be assumed to accumulate monotonically over time. It is the underlying model in many tools that have been used, for example, to infer phylogenetic trees for tumor evolution and reconstruction. Unfortunately, the PPM model gives rise to substantial ambiguity -- in that many different phylogenetic trees can explain the same observed data -- even in the idealized setting where data are observed perfectly, i.e. fully and without noise. This ambiguity has been studied in this perfect setting by Pradhan et al. 2018, which proposed a procedure to bound the number of solutions given a fixed instance of observation data. Beyond this, studies have been primarily empirical. Recent work (Myers et al. 2019) proposed adding extra constraints to the PPM model to tackle ambiguity. In this paper, we first show that the extra constraints of Myers et al. 2019, called longitudinal constraints (LC), often fail to reduce the number of distinct trees that explain the observations. We then propose novel alternative constraints to limit solution ambiguity and study their impact when the data are observed perfectly. Unlike the analysis in Pradhan et al. 2018, our theoretical results regarding both the inefficacy of the LC and the extent to which our new constrains reduce ambiguity are not tied to a single observation instance. Rather, our theorems hold over large ensembles of possible inference problems. To the best of our knowledge, we are the first to study degeneracy in the PPM model in this ensemble-based theoretical framework.

q-bio.PE↗

arXiv2020

Coulomb Blockade Effects in a Topological Insulator Grown on a High-Tc Cuprate Superconductor

The evidence for proximity-induced superconductivity in heterostructures of topological insulators and high-Tc cuprates has been intensely debated. We use molecular beam epitaxy to grow thin films of topological insulator Bi2Te3 on a cuprate Bi2Sr2CaCu2O8+x, and study the surface of Bi2Te3 using low-temperature scanning tunneling microscopy and spectroscopy. In few unit-cell thick Bi2Te3 films, we find a V-shaped gap-like feature at the Fermi energy in dI/dV spectra. By reducing the coverage of Bi2Te3 films to create nanoscale islands, we discover that this spectral feature dramatically evolves into a much larger hard gap, which can be understood as a Coulomb blockade gap. This conclusion is supported by the evolution of dI/dV spectra with the lateral size of Bi2Te3 islands, as well as by topographic measurements that show an additional barrier separating Bi2Te3 and Bi2Sr2CaCu2O8+x. We conclude that the prominent gap-like feature in dI/dV spectra in Bi2Te3 films is not a proximity-induced superconducting gap. Instead, it can be explained by Coulomb blockade effects, which take into account additional resistive and capacitive coupling at the interface. Our experiments provide a fresh insight into the tunneling measurements of complex heterostructures with buried interfaces.

cond-mat.mtrl-sci↗