Author

Tom Silver

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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

#artificial intelligence Preprint Sep 2026

Coding Agents for Generalized Task and Motion Planning Problems

This work finds that coding agents are surprisingly effective at generalized TAMP: all three agent configurations outperform hand-engineered planners, one-shot generation, and an LLM-based generalized planning baseline in mean success.

Matteo Merler, Bo-Wen Li, Josh Roy et al. · 1 citation