Mulligan: Performance-Guided Data Collection for Efficient On-Robot Learning
cs.RO, cs.LG
Submitted: 2026-10-05
Updated: 2026-10-05
Comments: Project page: https://mulligan.page/
Code: https://github.com/ankile/mulligan
Project page: https://mulligan.page
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
- OpenVLA: An Open-Source Vision-Language-Action Model
- ALOHA Unleashed: A Simple Recipe for Robot Dexterity
- From Imitation to Refinement -- Residual RL for Precise Assembly
- RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation
- RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction
- $\pi^{*}_{0.6}$: a VLA That Learns From Experience
- Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies
- What Matters for Batch Online Reinforcement Learning in Robotics?
- EXPO: Stable Reinforcement Learning with Expressive Policies
- Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning
- SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
- ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
- EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
- RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
- Residual Off-Policy RL for Finetuning Behavior Cloning Policies
- Self-Improving Vision-Language-Action Models with Data Generation via Residual RL
- Continuous Control with Coarse-to-fine Reinforcement Learning
- Imitation Bootstrapped Reinforcement Learning
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- ARC: A Reasoning Recipe for Robot Foundation Models
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies