Andy Tang

@tangerinecoder

Robotics and AI @ SAIL
fear less; imagine more

andyta.ng Joined April 2023

293 Following 168 Followers 40 Posts

Latest posts 4

Generalist robot policies learn many useful skills, but struggle to select good behaviors for new tasks. To solve this, we introduce Flow Reversal Steering (FRS), a method to refine coarse semantic guidance into precise, in-distribution motions.
flow-reversal-steering.github.io

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Andy Tang @tangerinecoder May 15, 2025

Was super fun exploring this! Most modern policies don't use history -- Diffusion Policy in particular gets a lot worse. We identify a simple ingredient for history improvement, and use it to improve efficiency and performance of long-context policies.

Marcel Torné ✈️ CoRL 2026 @marceltornev May 15, 2025

Giving history to our robot policies is crucial to solve a variety of daily tasks. However, diffusion policies get worse when adding history. 🤖

In our recent work we learn how adding an auxiliary loss that we name Past-Token Prediction (PTP) together with cached embeddings enables us to reliably add longer history context to our robot policies! 🧠

We also show how PTP enables some test-time scaling techniques for robotics! 🚀

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Andy Tang @tangerinecoder Sep 11, 2023

if you have trouble deploying on replit i guarantee lincoln can figure it out. it's shipping szn :D

Andy Tang @tangerinecoder Aug 30, 2023

midway through interning @Replit, honestly in awe at the concentration of young, hungry, opinionated people with dreams. full of gratitude and hope i always have the luck to be around people like these.