Andrew Wagenmaker

@ajwagenmaker

MTS @physical_int | Incoming Assistant Professor @UTAustin CS | Previously: Postdoc @Berkeley_EECS, PhD @uwcse

wagenmaker.github.io

Joined May 2025

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Andrew Wagenmaker
@ajwagenmaker
Sep 21
Latency in VLA inference means that, to achieve smooth execution, actions must be computed from past observations. How does this delay affect RL finetuning, and can we still RL finetune effectively under this delay? See our latest work for some answers! …rl-intermediate-information.github.io
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Andrew Wagenmaker
@ajwagenmaker
Sep 9
The strongest pretrained robot policy isn’t necessarily the easiest to adapt. How do pretraining and adaptation relate, and how can we pretrain policies that can be effectively adapted? Come check out our workshop at CoRL 2026 to join the conversation! corl2026-robotcl.github.io
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Andrew Wagenmaker
@ajwagenmaker
Aug 7
Action chunking is a critical component in virtually all modern approaches to imitation learning for robotics. But why is it so critical, and do we really need action chunking? Check out our latest work to find out! (1/n) action-chunking.github.io
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Andrew Wagenmaker
@ajwagenmaker
Jul 3
How can we leverage VLAs to learn to solve complex tasks that fall outside their typical capabilities? We introduce Semantic Action RL—treat the VLA’s language prompt as an action and optimize this with RL! Check out Jagdeep's thread for all the details! semantic-action-rl.github.io
Jagdeep Bhatia
@JagdeepBhatia8
Jul 3
How can generalist policies adapt to new challenges at deployment using skills they already have? We optimize VLA *prompt inputs* with reinforcement learning, enabling efficient real-robot adaptation on complex tasks where existing methods struggle. 🧵 semantic-action-rl.github.io
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Andrew Wagenmaker
@ajwagenmaker
Jun 12
How can we elicit useful, semantically meaningful behaviors from generalist policies? We introduce Flow Reversal Steering (FRS) as a method to refine coarse, semantically meaningful commands into effective robot actions! flow-reversal-steering.github.io 1/N
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