Authors

S. Shankar Sastry

Publications 2

Preprint Open access

Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents

Yen-Jen Wang, Haozhe Jiang, Shuying Deng et al. · 2026

Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model wei …

Preprint Open access

Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy

Tara Sadjadpour, Siming He, C. K. Wolfe et al. · 2026

Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology gaps, ensuring dynamical feasibility, and sim-to-real deployment. We present Morphometric Imitation, a three-stage framework that transform …

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