Publications

Journal articles, conference papers, and full preprints. See also Google Scholar.

2026

  1. OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
    OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
    Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal, Shashwat Saxena, Jesse Zhang, Giri Anantharaman, Cleah Winston, Chaoyi Pan, Douglas Chen, Nai-Chieh Huang, Zeynep Temel, Oliver Kroemer, Sergey Levine, Abhishek Gupta, Hongkai Dai, Paarth Shah, and Max Simchowitz
    In International Conference on Machine Learning (ICML), 2026
    arXiv PDF Code Website
    Cite this paper 
    @inproceedings{patil2026ogpo,
  title = {OGPO: Sample Efficient Full-Finetuning of Generative Control Policies},
  author = {Patil, Sarvesh and Nakamoto, Mitsuhiko and Agarwal, Manan and Saxena, Shashwat and Zhang, Jesse and Anantharaman, Giri and Winston, Cleah and Pan, Chaoyi and Chen, Douglas and Huang, Nai-Chieh and Temel, Zeynep and Kroemer, Oliver and Levine, Sergey and Gupta, Abhishek and Dai, Hongkai and Shah, Paarth and Simchowitz, Max},
  booktitle = {International Conference on Machine Learning (ICML)},
  year = {2026},
}
  2. Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers
    Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers
    Sarvesh Patil
    arXiv preprint arXiv:2609.06930, 2026
    arXiv PDF
    Cite this paper 
    @article{Patil2025MADDM,
  title = {Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers},
  author = {Patil, Sarvesh},
  journal = {arXiv preprint arXiv:2609.06930},
  year = {2026},
}
  3. From Fold to Function: Simulation-Driven Design of Origami Mechanisms
    From Fold to Function: Simulation-Driven Design of Origami Mechanisms
    Tianhui Han, Shashwat Singh, Sarvesh Patil, and Zeynep Temel
    In IEEE International Conference on Soft Robotics (RoboSoft), 2026
    arXiv PDF
    Cite this paper 
    @inproceedings{han2026fold,
  title = {From Fold to Function: Simulation-Driven Design of Origami Mechanisms},
  author = {Han, Tianhui and Singh, Shashwat and Patil, Sarvesh and Temel, Zeynep},
  booktitle = {IEEE International Conference on Soft Robotics (RoboSoft)},
  pages = {843--850},
  year = {2026},
}
  4. CURATE: Automatic Curriculum Learning for Reinforcement Learning Agents through Competence-Based Curriculum Policy Search in Structured Task Spaces
    CURATE: Automatic Curriculum Learning for Reinforcement Learning Agents through Competence-Based Curriculum Policy Search in Structured Task Spaces
    Tabitha Edith Lee, Nan Rosemary Ke, Sarvesh Patil, Annya Dahmani, Eunice Yiu, Esra’a Saleh, Alison Gopnik, Oliver Kroemer, and Glen Berseth
    Transactions on Machine Learning Research (TMLR), Aug 2026
    Publication PDF Code Website
    Cite this paper 
    @article{lee2026curate,
  title = {CURATE: Automatic Curriculum Learning for Reinforcement Learning Agents through Competence-Based Curriculum Policy Search in Structured Task Spaces},
  author = {Lee, Tabitha Edith and Ke, Nan Rosemary and Patil, Sarvesh and Dahmani, Annya and Yiu, Eunice and Saleh, Esra'a and Gopnik, Alison and Kroemer, Oliver and Berseth, Glen},
  journal = {Transactions on Machine Learning Research (TMLR)},
  year = {2026},
  month = aug,
}

2024

  1. Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
    Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
    Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T. Mason
    IEEE Robotics and Automation Letters, 2024
    arXiv PDF
    Cite this paper 
    @article{cheng2023enhancing,
  title = {Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration},
  author = {Cheng, Xianyi and Patil, Sarvesh and Temel, Zeynep and Kroemer, Oliver and Mason, Matthew T.},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  volume = {9},
  number = {1},
  pages = {390--397},
}

    60 citations · Google Scholar, Sep 13, 2026

2023

  1. Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
    Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
    Sarvesh Patil, Tony Tao, Tess Hellebrekers, Oliver Kroemer, and F. Zeynep Temel
    In IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Publication PDF Website
    Cite this paper 
    @inproceedings{patil2022linear,
  title = {Linear Delta Arrays for Compliant Dexterous Distributed Manipulation},
  author = {Patil, Sarvesh and Tao, Tony and Hellebrekers, Tess and Kroemer, Oliver and Temel, F. Zeynep},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2023},
  pages = {10324--10330},
}

    13 citations · Google Scholar, Sep 13, 2026

2022

  1. DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
    DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
    Sarvesh Patil, Samuel C. Alvares, Pragna Mannam, Oliver Kroemer, and F. Zeynep Temel
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
    arXiv PDF
    Cite this paper 
    @inproceedings{Patil2022DeltaZAA,
  title = {DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education},
  author = {Patil, Sarvesh and Alvares, Samuel C. and Mannam, Pragna and Kroemer, Oliver and Temel, F. Zeynep},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2022},
}

    14 citations · Google Scholar, Sep 13, 2026

2020

  1. Multi-Modal Super Resolution for Dense Microscopic Particle Size Estimation
    Multi-Modal Super Resolution for Dense Microscopic Particle Size Estimation
    Sarvesh Patil, Chava Y P D Phani Rajanish, and Naveen Margankunte
    arXiv preprint arXiv:2010.09594, 2020
    arXiv PDF
    Cite this paper 
    @article{Patil2020MultiModalSR,
  title = {Multi-Modal Super Resolution for Dense Microscopic Particle Size Estimation},
  author = {Patil, Sarvesh and Rajanish, Chava Y P D Phani and Margankunte, Naveen},
  journal = {arXiv preprint arXiv:2010.09594},
  year = {2020},
}

    5 citations · Google Scholar, Sep 13, 2026

2018

  1. arXiv
    Deep Learning Based Natural Language Processing for End to End Speech Translation
    Sarvesh Patil
    arXiv preprint arXiv:1808.04459, 2018
    arXiv PDF
    Cite this paper 
    @article{patil2018speech,
  title = {Deep Learning Based Natural Language Processing for End to End Speech Translation},
  author = {Patil, Sarvesh},
  journal = {arXiv preprint arXiv:1808.04459},
  year = {2018},
}

    3 citations · Google Scholar, Sep 13, 2026

  2. Use of UAVs for mining applications
    Use of UAVs for mining applications
    Sarvesh Patil, Atharva Patil, Nikhil Nair, Midhun Nair, and Gaurav Tawde
    International Journal of Advance Research, Ideas and Innovations in Technology, 2018
    PDF
    Cite this paper 
    @article{Patil2018UseOU,
  title = {Use of UAVs for mining applications},
  author = {Patil, Sarvesh and Patil, Atharva and Nair, Nikhil and Nair, Midhun and Tawde, Gaurav},
  journal = {International Journal of Advance Research, Ideas and Innovations in Technology},
  year = {2018},
  volume = {4},
  number = {2},
  pages = {2691--2696},
}

    2 citations · Google Scholar, Sep 13, 2026