Asher Hancock

Asher Hancock
email: ajhancock[AT]princeton[DOT]edu

I am a graduate student at Princeton advised by Anirudha Majumdar.
Previously, I was a MPhil candidate in the Controls Group at the University of Cambridge under the supervision of Rodolphe Sepulchre.
I am broadly interested in AI and robotic foundation models.

Research

	Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfer Lihan Zha, Asher J. Hancock, Mingtong Zhang, Tenny Yin, Yixuan Huang, Dhruv Shah, Allen Z. Ren†, Anirudha Majumdar† Under Review
	Video Generation Models in Robotics: Applications, Research Challenges, Future Directions Zhiting Mei, Tenny Yin, Ola Shorinwa, Apurva Badithela, Zhonghe Zheng, Joseph Bruno, Madison Bland, Lihan Zha, Asher Hancock, Jaime Fernandez Fisac, Philip Dames, Anirudha Majumdar Under Review*
	Actions as Language: Fine-Tuning VLMs into VLAs Without Catastrophic Forgetting Asher J. Hancock, Xindi Wu, Lihan Zha, Olga Russakovsky, Anirudha Majumdar ICLR, 2026 [arXiv] [Website]
	Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura RSS, 2025 [arXiv] [Website]
	Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust Asher J. Hancock, Allen Z. Ren, Anirudha Majumdar ICRA, 2025 [arXiv] [Website]
	Blending Data-Driven Priors in Dynamic Games Justin Lidard, Haimin Hu, Asher J Hancock, Zixu Zhang, Albert Gimo Contreras, Vikash Modi, Jonathan A. DeCastro, Deepak Gopinath, Guy Rosman, Naomi Ehrich Leonard, Maria Santos, Jaime Fernandez Fisac RSS, 2024 [ArXiv] [Website]
	PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction Apoorva Sharma, Sushant Veer, Asher J Hancock, Heng Yang, Marco Pavone, Anirudha Majumdar NeurIPS, 2023 [ArXiv] [Code]
	On Relaxation Systems in Network and Systems Theory Asher J. Hancock Master's Thesis, 2023 PDF