Jiaxuan Wang
Jiaxuan Wang — researcher or builder tracked in the Angestrom contributor network.
Papers · 2
Consolidating RLVR Capabilities Across Domains: A Deep Dive into Fusion Paradigms
Reinforcement learning with verifiable rewards (RLVR) improves specific capabilities of large language models, but covering multiple capabilities often involves training separate domain experts and subsequently consolidating them. We organize three fusion paradigms by the artefacts they reuse: Merge combines expert task vectors, Mix RL pools their datasets, and multi-teacher on-policy distillation (MOPD) uses both. Because they have largely been studied in isolation, how they compare and how to choose among them remain unclear. We compare all three using shared experts and data across model sc
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robot kinematic references, then train policies via reinforcement learning (RL) to track them. But how does this recipe transfer to dexterous manipulation? The answer is not obvious, as manipulation involves complex, contact-rich dynamics and requires delicate regulation of contact modes and forces. We present REGRIND, a minimalist retargeting-guided RL pipeline that learns dexterous manipulation policies from a single human demonstration. REGRIND retargets human hand-object motion to a