Author

Maria Attarian

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Preprint Oct 2026

Post-Training, Finetuning, and Steering:A Field Guide for Curating Training Data

While Vision-Language-Action models have enabled impressive cross-task transfer in zero-shot settings, \emph{adaptation} methods are often necessary to achieve consistent performance on novel tasks. However, even though a wealth of methods for adaptation have been proposed, it is unclear how to choose the best method b...

Maria Attarian, Yi-Fan Ruan, Claas A Voelcker et al. · 0 citations

Jul 2026

SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments

This work proposes SeededGrasp, a novel data-efficient framework that enables a VLM to predict a seed point to be used as conditioning for a subsequent lightweight grasp-generation model, enabling multi-embodiment support while bypassing the need for expensive end-to-end training.

Yang Xu, Gurpreet Singh Mukker, Raymond Wang et al. · arXiv.org · 0 citations