3 papers
cs.RO2026
Reactive Real-Time Flow Policies via Asynchronous Distribution Alignment
Moritz Zoellner, Reece O'Mahoney, Ioannis Havoutis +1
Generalist robot policies such as vision-language-action models (VLAs) have achieved remarkable generalization, but their inference delays can conflict with the demands of real-tim…
cs.RO2026
Composing Learned Robot Behaviors with Temporal Logic at Runtime
Moritz Zoellner, Anastasios Manganaris, Ahmed H. Qureshi +1
Executing Linear Temporal Logic (LTL) instructions with learned robot policies faces two practical challenges: demonstrations may cover individual behaviors without containing the…
cs.RO2026
Temporal Logic Guidance for Action-Only Diffusion Policies with World Models
Moritz Zoellner, Anastasios Manganaris, Rohan Paleja
Diffusion policies enable multimodal robot behavior but offer limited ability to choose among behavior modes at inference time, even though such control is desirable in human-robot…