Author

Maya Cakmak

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Preprint Jul 2026

FlowDAgger: Human-in-the-Loop Adaptation of Generative Robot Policies in Latent Space

The key idea is action inversion: each human expert action is mapped to the noise that would have produced it under the frozen base policy, using reverse-time integration followed by local refinement, which provides supervision for a lightweight latent policy that steers the base model at deployment time, enabling rapi...

Michael Murray, Daphne Chen, Simran Bagaria et al. · 1 citation

Jul 2026

A Few Words Go a Long Way: Language Guided Robot Policy Synthesis

The results demonstrate that the synthesized skill library enables the system to transfer to novel tasks with decreasing human intervention, providing a steerable and data-efficient alternative to black-box robot learning.

Daphne Chen, A. Jain, E. Goossen et al. · arXiv.org · 1 citation