3 papers
cs.LG2026
Drift Q-Learning
Anas Houssaini, Mohamad H. Danesh, Amin Abyaneh +3
Offline reinforcement learning requires improving a policy from fixed data while avoiding out-of-distribution actions with unreliable value estimates. Diffusion and flow policies h…
cs.RO2026
Morphology-Conditioned World Model for Cross-Embodiment Quadrupedal Locomotion
Mohamad H. Danesh, Chenhao Li, Amin Abyaneh +5
World models promise a paradigm shift in robotics, where an agent learns the physics of its environment once and then acquires behaviors efficiently. Yet the learned dynamics model…
cs.RO2026
Tactile Modality Fusion for Vision-Language-Action Models
Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. While advances in VLAs have introduced r…