research @decagonai ml & robotics research @utaustin
Joined August 2025
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Show a robot a cart it's never seen. It doesn't need to know it's a "cart," just that it's pushable, rolls & holds stuff.
Happy to announce my first-author paper on functional latent spaces got into #CoRL2026: "What Objects Enable, Not What They Are"
arxiv.org/abs/2606.05533
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multimodal inference feels pretty underexplored, especially when you move beyond standard transformer architectures. fun to share what we learned when scaling our text to speech model to 10x throughput
tts naturalness is hard. sft has its limits, but rl is tricky for flow-matching models since they lack the log-probs dpo and grpo rely on.
excited to share work on adapting both methods for TTS with @cyrusasg at @DecagonAI!
Modern TTS models can sound great — and still fail badly on pacing, pauses, and prosody.
We adapted DPO + GRPO to flow-matching models to tackle the tail end of TTS behavior:
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