Publications

You can also find my articles on my Google Scholar profile.

Preprints

Demystifying Reinforcement Learning Post-Training of Language Models

Published in Under review at the International Conference on Learning Representations (ICLR 2027), 2026

Clay, D., et al.Donovan Clay, Saket Gollapudi, Sankar Harilal, Min Jang, Jacob Morrison, Sewoong Oh, Natasha Jaques (2026). "Demystifying Reinforcement Learning Post-Training of Language Models." Under review at the International Conference on Learning Representations (ICLR 2027).

Conference Papers

MolmoAct2: Action Reasoning Models for Real-world Deployment

Published in Conference on Robot Learning (CoRL 2026), 2026

Fang, H., Duan, J., Clay, D., et al.Haoquan Fang, Jiafei Duan, Donovan Clay, Sam Wang, Shuo Liu, Weikai Huang, Xiang Fan, Wei-Chuan Tsai, Shirui Chen, Yi Ru Wang, Shanli Xing, Jaemin Cho, Jae Sung Park, Ainaz Eftekhar, Peter Sushko, Karen Farley, Angad Wadhwa, Cole Harrison, Winson Han, Ying-Chun Lee, Eli VanderBilt, Rose Hendrix, Suveen Ellawela, Lucas Ngoo, Joyce Chai, Zhongzheng Ren, Ali Farhadi, Dieter Fox, Ranjay Krishna (2026). "MolmoAct2: Action Reasoning Models for Real-world Deployment." Conference on Robot Learning (CoRL 2026). Spotlight (top 10%).

WildDet3D: Scaling Promptable 3D Detection in the Wild

Published in Robotics: Science and Systems (RSS 2026), 2026

Huang, W., ..., Clay, D., et al.Weikai Huang, Jieyu Zhang, Sijun Li, Taoyang Jia, Jiafei Duan, Yunqian Cheng, Jaemin Cho, Matthew Wallingford, Rustin Soraki, Chris Dongjoo Kim, Shuo Liu, Donovan Clay, Taira Anderson, Winson Han, Ali Farhadi, Bharath Hariharan, Zhongzheng Ren, Ranjay Krishna (2026). "WildDet3D: Scaling Promptable 3D Detection in the Wild." Robotics: Science and Systems (RSS 2026).

MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation

Published in Robotics: Science and Systems (RSS 2026), 2026

Kim, Y., ..., Clay, D., et al.Yejin Kim, Wilbert Pumacay, Omar Rayyan, Max Argus, Winson Han, Eli VanderBilt, Jordi Salvador, Abhay Deshpande, Rose Hendrix, Snehal Jauhri, Shuo Liu, Nur Muhammad Mahi Shafiullah, Maya Guru, Arjun Guru, Ainaz Eftekhar, Karen Farley, Donovan Clay, Jiafei Duan, Piper Wolters, Alvaro Herrasti, Ying-Chun Lee, Georgia Chalvatzaki, Yuchen Cui, Ali Farhadi, Dieter Fox, Ranjay Krishna (2026). "MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation." Robotics: Science and Systems (RSS 2026).

Consistently Simulating Human Personas with Multi-Turn Reinforcement Learning

Published in Neural Information Processing Systems (NeurIPS 2025), 2025

Abdulhai, M., Cheng, R., Clay, D., et al.Marwa Abdulhai, Ryan Cheng, Donovan Clay, Tim Althoff, Sergey Levine, Natasha Jaques (2025). "Consistently Simulating Human Personas with Multi-Turn Reinforcement Learning." Neural Information Processing Systems (NeurIPS 2025).

Theses

Benchmarking Batch Normalization in HLS4ML Designs

Published in Honors Undergraduate Thesis, University of Washington, 2025

Clay, D., Hauck, S.Donovan Clay, Scott Hauck (2025). "Benchmarking Batch Normalization in HLS4ML Designs." Honors Undergraduate Thesis, University of Washington.