Author

Aayushi Shrivastava

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Preprint Sep 2026

Multi-Terrain Mastery: A Comprehensive Controller for Bipedal Locomotion

Advancing bipedal robots to navigate diverse terrains remains a significant challenge in robotics. Traditional locomotion controllers excel on specific surfaces but struggle across varied environments, limiting their practical applications. Given the unpredictable nature of real-world environments, a single controller...

Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava · 0 citations

#machine learning Preprint Sep 2026

SAMBAR: Selective Anchoring via Method of Multipliers for Balanced Knowledge Acquisition and Retention in Vision-Language-Action Models

Vision-Language-Action (VLA) models leverage large-scale pretraining to ultimately achieve generalist manipulation. Deployed VLA policies must support continual learning to acquire new tasks over time. Teaching a VLA a new task generally requires finetuning it on demonstrations of that task. However, naively finetuning...

Aayushi Shrivastava, Xunlan Zhou, Hong-Ru Zhao et al. · 0 citations