Lars Ankile
I'm a PhD student in Computer Science at Stanford University working on robot learning and reinforcement learning.
Before starting at Stanford, I interned at Amazon FAR (Frontier AI & Robotics) working on residual off-policy RL with Anusha Nagabandi, Pieter Abbeel, Guanya Shi, and Rocky Duan.
Before that, I was a visiting researcher at the Improbable AI Lab at MIT CSAIL working on robot learning with Prof. Pulkit Agrawal.
I completed an M.Eng. in Data Science at Harvard University, where I did my thesis work in the Improbable AI group on sample-efficient imitation learning. I also spent a year in the Data to Actionable Knowledge Lab at Harvard, working with Profs. Weiwei Pan and Finale Doshi-Velez on applying RL and Bayesian inference to model human decision-making for frictionful tasks in healthcare settings. I also spent a summer and fall interning with Prof. David Parkes and Matheus Ferreira in the EconCS Lab at Harvard working on detecting manipulation in multi-agent settings.
I did my undergrad at the Norwegian University of Science and Technology (NTNU) and did my thesis work on applying Deep Learning to econometric forecasting of complex and multivariate time series, supervised by Prof. Sjur Westgaard.
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lars.ankile@gmail.com / ankile@stanford.edu / ankile@mit.edu
ResFiT: Residual Finetuning of Behavior Cloning Policies
Lars L Ankile, Zhenyu Jiang, Rocky Duan, Guanya Shi, Pieter Abbeel, Anusha Nagabandi
Under review
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Robot Learning with Super-Linear Scaling
Marcel Torne, Arhan Jain, Jiayi Yuan, Vidaaranya Macha, Lars L Ankile, Anthony Simeonov,
Pulkit Agrawal, Abhishek Gupta
RSS'26
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DexHub and DART: Towards Internet Scale Robot Data Collection
Younghyo Park, Jagdeep Singh Bhatia, Lars L Ankile, Pulkit Agrawal
ICRA'25
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From Imitation to Refinement--Residual RL for Precise Visual Assembly
Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne, Pulkit Agrawal
ICRA'25
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Diffusion Policy Policy Optimization
Allen Z Ren, Justin Lidard, Lars L Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha
Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz
ICLR'25
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JUICER: Data-Efficient Imitation Learning for Robotic Assembly
Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Pulkit Agrawal
IROS'24
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AMBER: An Entropy Maximizing Environment Design Algorithm for Inverse Reinforcement Learning
Paul Nitschke, Lars L Ankile, Eura Nofshin, Siddharth Swaroop, Finale Doshi-Velez, Weiwei
Pan
ICML'24 Workshop on Models of Human Feedback for AI Alignment
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Denoising Diffusion Probabilistic Models as a Defense against Adversarial Attacks
Lars L Ankile, Anna Midgley, Sebastian Weisshaar
arXiv preprint, 2023
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Exploration of Forecasting Paradigms and a Generalized Forecasting Framework
Lars L Ankile, Kjartan Krange
Master's thesis, NTNU, 2022
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2025
ICRA'25 - Oral presentation on "From Imitation to Refinement"2024
Learning Fine and Dexterous Manipulation Workshop @ CoRL - Spotlight presentation on "From Imitation to Refinement"2024
Mastering Robotic Manipulation Workshop @ CoRL - Spotlight presentation on "Diffusion Policy Policy Optimization"2024
IROS Learning Track Spotlight - "JUICER: Data-Efficient Imitation Learning for Robotic Assembly"2023
Multi-Agent Security Workshop @ NeurIPS - "I See You!" oral presentation2023
Harvard MS Data Science Orientation Research Panel - Student Research Opportunities2022
NTNU PhD Course on Economic and Financial Forecasting - "Ensemble forecasting and the M4 competition"Stupid-Simple Book Tracker
A responsive reading tracker with progress logging, statistics, and a GitHub-style reading heatmap. Built with Svelte 5 and Firebase.
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Code
2025
Reviewer - RSS'25, ICRA'26, RA-L2024
High School Student Research Mentor - Advising projects on computer vision and robotics2023
Conference Reviewer - CoRL, ICML Workshops