3 papers
cs.RO2026
TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning
Samrat Sahoo, Liang Ji, Tom Silver +1
Human teleoperators spend substantial time demonstrating behaviors that robots can already perform autonomously, limiting the scalability of data collection for robot foundation mo…
cs.RO2026
DATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models
Samrat Sahoo, Yixuan Huang, Tom Silver
Collecting high-quality robot data remains a fundamental challenge for training robot foundation models. Task and motion planning (TAMP) offers a scalable way to generate demonstra…
cs.RO2026
One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry
Satvik Sharma, Samrat Sahoo, Huang Huang +4
Dexterous manipulation with multi-fingered robot hands promises human-level dexterity, but collecting large-scale dexterous robot hand data remains difficult. Learning from human d…