Lars Ankile

I'm a PhD student in Computer Science at Stanford University working on robot learning and reinforcement learning, advised by Prof. Chelsea Finn.

Lars Ankile

Projects

ResFiT: Residual Finetuning of Behavior Cloning Policies

Lars L Ankile, Zhenyu Jiang, Rocky Duan, Guanya Shi, Pieter Abbeel, Anusha Nagabandi
ICRA 2026
Also presented at RSI and LLA workshops at ICLR 2026
Webpage  •   PDF  •   Code

Robot Learning with Super-Linear Scaling

Marcel Torne, Arhan Jain, Jiayi Yuan, Vidaaranya Macha, Lars L Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta
RSS 2026
Webpage  •   PDF

DexHub and DART: Towards Internet Scale Robot Data Collection

Younghyo Park, Jagdeep Singh Bhatia, Lars L Ankile, Pulkit Agrawal
ICRA 2025
Webpage  •   PDF

From Imitation to Refinement--Residual RL for Precise Visual Assembly

Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne, Pulkit Agrawal
ICRA 2025
Webpage  •   PDF  •   Code

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 2025
Webpage  •   PDF  •   Code

JUICER: Data-Efficient Imitation Learning for Robotic Assembly

Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Pulkit Agrawal
IROS 2024
Webpage  •   PDF  •   Code

Stupid-Simple Book Tracker

A responsive reading tracker with progress logging, statistics, and a GitHub-style reading heatmap. Built with Svelte 5 and Firebase.
Live App  •   Code

Run Track

Running load tracker for injury prevention. Syncs from Garmin and calculates ACWR (Acute:Chronic Workload Ratio) to avoid overtraining.
Live App

Word Counter

Photograph book pages, extract text via OCR, and count words. A companion metric for tracking reading progress.
Live App  •   Code

Outside research, I spend a lot of time running and reading. You can follow along there.
Reviewing

2026

CoRL 2026, RA-L, T-RO

2025

ICRA 2026, IROS 2025, RA-L, RSS 2025

2024

CoRL 2024 workshops

2024

High school research mentor for computer vision and robotics projects
Talks

2025

ICRA 2025 oral presentation: "From Imitation to Refinement"

2024

Learning Fine and Dexterous Manipulation Workshop at CoRL, spotlight presentation on "From Imitation to Refinement"

2024

Mastering Robotic Manipulation Workshop at 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 at NeurIPS, "I See You!" oral presentation

2023

Harvard MS Data Science Orientation research panel: Student Research Opportunities

2022

NTNU PhD course on Economic and Financial Forecasting: "Ensemble forecasting and the M4 competition"