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.


Background     Github     G. Scholar     LinkedIn     Twitter     Resume     Strava     Goodreads

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
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'26
Webpage  •   PDF

DexHub and DART: Towards Internet Scale Robot Data Collection

Younghyo Park, Jagdeep Singh Bhatia, Lars L Ankile, Pulkit Agrawal
ICRA'25
Webpage  •   PDF

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

Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne, Pulkit Agrawal
ICRA'25
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'25
Webpage  •   PDF  •   Code

JUICER: Data-Efficient Imitation Learning for Robotic Assembly

Lars L Ankile, Anthony Simeonov, Idan Shenfeld, Pulkit Agrawal
IROS'24
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  •   Code

Word Counter

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

Besides research, I enjoy some running and reading—feel free to follow along if you do too!
Reviewing

2025

Reviewer - RSS'25, ICRA'26, RA-L

2024

High School Student Research Mentor - Advising projects on computer vision and robotics

2023

Conference Reviewer - CoRL, ICML Workshops
Talks

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 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"