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cs.RO2026
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…
cs.RO2026
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…