11 papers
Asymptotically complete free-energy dissipation: a coarse MLSI holds at any positive temperature
Jonas Köppl, Yannic Steenbeck
Everybody learns in school that an out-of-equilibrium system coupled to a heat bath at a fixed temperature evolves to thermodynamic equilibrium as time goes on, and the free energy…
Temporal Logic Guidance for Action-Only Diffusion Policies with World Models
Moritz Zoellner, Anastasios Manganaris, Rohan Paleja
Diffusion policies enable multimodal robot behavior but offer limited ability to choose among behavior modes at inference time, even though such control is desirable in human-robot…
Heterogeneous Policy Networks for Composite Robot Team Communication and Coordination
Esmaeil Seraj, Rohan Paleja, Luis Pimentel +7
High-performing human-human teams learn intelligent and efficient communication and coordination strategies to maximize their joint utility. These teams implicitly understand the d…
Differentiable Belief-based Opponent Shaping
Aarav G Sane, Karthik Sivachandran, Rohan Paleja
Human coordination often relies on the ability to influence the beliefs of others through strategic action. In multi-agent reinforcement learning, opponent shaping attempts to repl…
Event-Grounded Sparse Autoencoders for Vision-Language-Action Policies
Xinchen Jin, Aditya Chatterjee, Pranav Kumar +1
Vision-Language-Action (VLA) policies translate language and visual inputs into robot actions, where their hidden representations directly shape closed-loop behavior. However, mech…
Beyond Partner Diversity: An Influence-Based Team Steering Framework for Zero-Shot Human-Machine Teaming
Wei Sheng, Rohan Paleja
While AI agents are rapidly advancing from isolated tools to interactive collaborators, data-driven human-machine teaming (HMT) methods remain costly in their reliance on human int…