Igor Gilitschenski — Papers on Cortexa

arxivcs.RO2026-07-22

SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments

Yang Xu, Gurpreet Singh Mukker, Raymond Wang, Jasper Gerigk, Maria Attarian, Igor Gilitschenski

Practical robotic grasping in complex scenes requires both 3D spatial reasoning and alignment with task-specific requirements. Vision-language models (VLMs) offer a natural way to specify these requirements using language, but existing approaches either use a VLM to predict the g…

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arxivcs.LGcs.AI2026-06-27

Modification-Considering Value Learning for Reward Hacking Mitigation in RL

Evgenii Opryshko, Umangi Jain, Igor Gilitschenski

Reinforcement learning agents can exploit misspecified reward signals to achieve high apparent returns while failing on the intended objective, a failure mode known as reward hacking. Existing practical defenses typically constrain policy updates to stay near a known safe referen…

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