3 papers
cs.RO2026
Can a Frontier VLM Serve as a Robot Policy for Memory-Dependent Manipulation?
Jack B. Jedlicki, Amish Sethi, Heng Yang
We use a frozen frontier vision-language model, GPT-6-Astra, directly as the robot policy on RoboMME, a benchmark of 16 memory-dependent manipulation tasks spanning temporal, spati…
cs.CV2025
ESCA: Contextualizing Embodied Agents via Scene-Graph Generation
Jiani Huang, Amish Sethi, Matthew Kuo +6
Multi-modal large language models (MLLMs) are making rapid progress toward general-purpose embodied agents. However, existing MLLMs do not reliably capture fine-grained links betwe…
cs.LG2025
Delta Activations: A Representation for Finetuned Large Language Models
Zhiqiu Xu, Amish Sethi, Mayur Naik +1
The success of powerful open source Large Language Models (LLMs) has enabled the community to create a vast collection of post-trained models adapted to specific tasks and domains.…