Reference motions are often used as trajectories to track or teachers to distill. We explore a different way of learning from them.I am excited to share our work, Generalizing from References (GfR), to appear at RSS 2026, as a follow-up to our previous HIL work.Using a unified multi-task RL framework, we jointly train reference-guided imitation and goal-driven RL within a single end-to-end policy.No distillation.No RL fine-tuning.Just one policy, trained end-to-end, that learns from references a

Writing a Reflection Paper: A Step-by-Step Guide