2 papers
cs.RO2026
Plan Along the Way: Event-Triggered Foundation-Model Planning for TAMP Execution in Partially Observable Manipulation
Puru Ojha, Narendhiran Vijayakumar, Nav Singhal +2
Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remai…
cs.LG2026
Key-Value Means: Transformers with Expandable Block-Recurrent Compressed Memory
Daniel Goldstein, Navneel Singhal, Eugene Cheah
Recall presents a difficult choice: transformers have a linearly growing memory that slows each successive token, while linear RNNs typically have fixed costs but limited recall. W…