Fred Shentu — Papers on Cortexa

arxivcs.RO2026-06-26

WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation

Justin Yu, Andrew Goldberg, Kavish Kondap, Karim El-Refai, Ethan Ransing, Qianzhong Chen, et al.

Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality demonstrations containing hesitations and recoveries. Prior frame-level progress reward models supervise on absolute temporal progress proxies that suffer from label nois…

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arxivcs.RO2026-06-25

Scalable Behavior Cloning with Open Data, Training, and Evaluation

Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid, Hongsuk Choi, David McAllister, et al.

We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our…

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