4 papers
Beyond Single-Axis Testing: Paired Evaluation of Compound Robustness in Vision-Language-Action Policies
Hiroki Sawada, Shunichi Kasahara
Vision-language-action policies are typically evaluated one perturbation at a time, providing a useful diagnosis of their sensitivity to individual distribution shifts. Real-world…
Predictive-Coding-Based Autonomous Regulation of Internally Generated and Externally Coupled Processing in Human-Robot Interaction
Henrique Oyama, Hiroki Sawada, Jun Tani
Predictive coding characterizes adaptive behavior as a dynamic balance between internally generated predictions and external sensory evidence, yet how an embodied cognitive system…
PredVLA: Predictive Sensorimotor Modeling for Sub-Million-Parameter Robot Manipulation
Hiroki Sawada, Shunichi Kasahara
Large pretrained vision-language-action models achieve strong robot-manipulation performance, while compact alternatives have largely pursued efficiency by compressing the prevaili…
Free-Energy-Gated Plasticity for Real-Time Online Motor Learning in Physical Human-Robot Interaction
Hiroki Sawada, Jun Tani
Fully online embodied learning requires synaptic adaptation to acquire new behaviors while preserving previously learned dynamics during ongoing interaction. We extend the Predicti…