Author

Rahul Sajnani

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Preprint Oct 2026

Sample-Efficient Reinforcement Learning for Policy Improvement via Flow-Reversed Action Anchors

Generalist robot policies offer strong behavioral priors, but achieving deployment-level reliability and throughput remains difficult. Reinforcement learning (RL) can improve these policies, yet its effectiveness is constrained by the cost of online interaction. Existing methods adapt frozen flow-matching policies by t...

Carl Qi, Wei-Jun Dong, Xiao-Jie Wang et al. · 0 citations

#artificial intelligence Preprint Oct 2026

UniWALM: Unified World Action Language Model for Embodied Robot Control

Motivated by the human ability to integrate experience across language, perception, and action, we introduce UniWALM, a unified world-action-language model that learns video, action, and language in a single shared representation, where each modality is both a conditioning signal and a supervision target. We ask: can j...

Rahul Sajnani, D. Romeres, Ming-Yuan Zhang et al. · 0 citations

Jul 2026

Appearance Pointers - Multimodal Region Control of Diffusion Transformers

This approach introduces the first modality-agnostic interface for localized multimodal control in a DiT without retraining the base model from scratch, offering a simple and extensible path toward precise, region-aware, multimodal guidance in generative image synthesis.

Rahul Sajnani, Yulia Gryaditskaya, R. Měch et al. · arXiv.org · 0 citations