Research Scientist at NVIDIA. I train intelligent robot behaviors. Prev. CS Postdoc at Stanford, CS PhD at MIT.
Joined July 2011
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The ChatGPT of robotics needs both a model (GPT) AND an interaction method (“chat”) to let users steer robot policies online, post-training. The multimodality in diffusion models is great for capturing diverse behaviors, but users need control at inference time!
@felixwyw & team’s work at #ICRA2025 presents a method to steer pre-trained policies during generation. Check out yanweiw.github.io/itps/ for all the results!
Want your robot to clean the kitchen your way? 🧹✨
🔗yanweiw.github.io/itps/"
Introducing Inference-Time Policy Steering: a training-free method that lets you specify where and how to manipulate objects, so you can guide non-interactive policies to align with your preferences!
Claudia D'Arpino 🤖🧠 retweeted
We’re excited to announce the official release of NVIDIA Isaac Lab 3.0. 🎉
Isaac Lab 3.0 brings a new modular and lightweight architecture along with major new capabilities across the robot learning workflow: multi-physics and multi-rendering support, training at scale, and streamlined deployment on real hardware.
With Newton integration, the new OVRTX renderer, RL post-training, and LEAPP deployment, there’s a lot to explore.
Here’s a look at what’s new 🧵
(1/7)
Claudia D'Arpino 🤖🧠 retweeted
Serena Williams back on Centre Court in 2026.
#Wimbledon
Claudia D'Arpino 🤖🧠 retweeted
World-Action Models (WAMs) have become the second dominant recipe for robot foundation models, next to classical VLAs.
So where do they come from, and how do they compare vs VLAs?
I wrote an small overview of the WAM landscape, with some personal takes:
developer.nvidia.com/blog/pr…
Claudia D'Arpino 🤖🧠 retweeted
GEN-1 blog has a passage on alignment: pre-trained models often seem super eager, almost restless, to try many different motions. Steering them toward user preferences is what turns raw intelligence into useful execution.
Prediction: As we enter the pre-training era for robotics, we’ll see a lot more alignment and interpretability research on these mysterious models.
Want your robot to clean the kitchen your way? 🧹✨
🔗yanweiw.github.io/itps/"
Introducing Inference-Time Policy Steering: a training-free method that lets you specify where and how to manipulate objects, so you can guide non-interactive policies to align with your preferences!
Claudia D'Arpino 🤖🧠 retweeted
🧠Reasoning VLAs generate textual plans 💬 via CoT before predicting actions 🦾. But do the predicted actions actually follow the plans? Introducing SEAL: a training-free runtime steering method that ensures VLAs "do what they say". Website: tinyurl.com/seal-vla (1/9)
Excited to invite you to our #RSS2025 Workshop at RTH 109, where we’ll explore the frontier of Generative Models × Human–Robot Interaction! 🤖✨ Organizing with @robominyoung @sammy_j_c @haroldsoh @andreea7b @julie_a_shah
sites.google.com/view/gai-hr…
9:00 AM – Workshop Intro • @robominyoung
9:10 AM – Visual Embodied Planning • @RoozbehMottaghi
9:40 AM – Simulating People with Language Models—Good Idea? Bad Idea? • @ybisk
10:10 AM – Steerable & Interactive Robots in the Era of Large Models • @DorsaSadigh
10:40 AM – ☕ Coffee Break & Poster Session
11:30 AM – All Generative Models Are Wrong, But Some Are Useful • @robo_kween
12:00 PM – Panel 1: Are LLMs, VLMs, VLAs Robust Enough for Simulation & Interaction? Yonatan Bisk, Nadia Figueroa, Roozbeh Mottaghi, moderated by @CPDArobotics
12:30 PM – Lunch
1:30 PM – Stakeholder-Informed Physical Assistance: Leveraging Generative AI towards Real-World Caregiving Robots • @TapoBhat
2:00 PM – Individualized Models of Human Control in Assistive Robotics • @brenna_argall
2:30 PM – Spotlight Talks
3:00 PM – Demonstrating Arena 5.0 • @kastner_linh
3:30 PM – ☕ Coffee Break
4:10 PM – Panel 2: Foundation Models for Shared Autonomy & Assistive Robots. @V_Vanhoucke , Brenna Argall, Tapomayukh Bhattacharjee, moderated by @haroldsoh
5:00 PM – Best Paper Award & Wrap-Up
Claudia D'Arpino 🤖🧠 retweeted
Humanoids are improving fast! With better, more usable hardware, controllers, and advances in RL and sim2real, they’re truly leveling up #ICRA2025
What an incredible time at #ICRA2025! 🤖 Check out these video highlights to catch all the coolest robots in action—watch and relive the fun!
The #ICRA2025 DEBATE “Data will Solve Robotics and Automation: True or False?” was especially fun and insightful—watch and listen carefully! Aude Billard, @animesh_garg, Leslie Kaelbling, Frank Park, Daniela Rus, @RussTedrake moderated by @Ken_Goldberg
Looking forward to robots waltzing to Strauss beneath Vienna’s gilded domes next year! 🎻🤖 #ICRA2026