Author

Samrat Sahoo

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Preprint Sep 2026

DATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models

Results show that aligning planner-generated demonstrations with the pretraining distribution can make TAMP an effective source of data for VLA fine-tuning, and incorporate the pretraining distribution directly into TAMP trajectory generation.

Samrat Sahoo, Yi-Xuan Huang, Tom Silver · 1 citation · ⚡1

Preprint Sep 2026

TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning

TANDEM (Tamp with As-Needed Demonstrations for Efficient Model fine-tuning), a system that combines TAMP with selective human teleoperation to collect demonstrations for tasks beyond the planner's capabilities, is presented.

Samrat Sahoo, Li Ji, Tom Silver et al. · 0 citations

Preprint Sep 2026

One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

DemoMimic (Dexterous Motion Mimic), a policy that manipulates objects by focusing on their geometry local to the contact points to improve sim-to-real consistency, yielding a single real-world policy that transfers across objects of varying shape, scale, mass, and friction wherever local contact structure is preserved.

Satvik Sharma, Samrat Sahoo, Huang Huang et al. · 4 citations · ⚡1