Author

Jeroen Schäfer

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#machine learning Preprint Oct 2026

CAPABLE: Capability-Aware Policy Adaptation via Behavioral Latent Encoding

Vision-language-action (VLA) policies assume the embodiment on which they were trained and can fail when a joint fault changes how commanded actions are physically executed. Existing fault-recovery methods often require task-specific retraining, fault labels, explicit diagnosis, or privileged embodiment information. We...

Mohammad Khoshnazar, Mohammad Dehghani Tezerjani, De-Yuan Qu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos

A knowledge extraction and reasoning module based on a vision-language model that associates object and action descriptions with inferred task conditions, demonstration references, and permissible execution variations is developed, which translates into executable demonstrations that exhibit multimodal behavior through...

Zhi-Yuan Gao, Yan Zhan, Mohammad Khoshnazar et al. · 0 citations