3 papers
cs.RO2026
Robust Finetuning of Vision-Language-Action Robot Policies via Parameter Merging
Yajat Yadav, Zhiyuan Zhou, Andrew Wagenmaker +2
Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act i…
cs.LG2025
ONG: Orthogonal Natural Gradient Descent
Yajat Yadav, Patrick Mendoza, Jathin Korrapati
Orthogonal Gradient Descent (OGD) has emerged as a powerful method for continual learning. However, its Euclidean projections do not leverage the underlying information-geometric s…
cs.CV2025
VROOM - Visual Reconstruction over Onboard Multiview
Yajat Yadav, Varun Bharadwaj, Jathin Korrapati +1
We introduce VROOM, a system for reconstructing 3D models of Formula 1 circuits using only onboard camera footage from racecars. Leveraging video data from the 2023 Monaco Grand Pr…