4 papers
Data-Efficient Adaptation of a Driving VLA to Class 8 Trucks
Satyajeet Das, Aaron Buxbaum, Niels Joubert +1
Class 8 trucks differ from passenger cars in geometry, dynamics, and maneuvering requirements. As a result, vision-language-action (VLA) models trained for passenger vehicles do no…
Steering Multirobot Behavior via Closed-Loop Affine Activation Editing
Satyajeet Das, Darren Chiu, Shashank Hegde +1
Real-world robots need to adapt their behavior beyond the envelope of their pre-trained policy. Policy finetuning or retraining are options, but they risk catastrophic forgetting,…
Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
Satyajeet Das, Darren Chiu, Zhehui Huang +2
Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulne…
WARPD: World model Assisted Reactive Policy Diffusion
Shashank Hegde, Satyajeet Das, Gautam Salhotra +1
With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now wide…