Author

Samrat Sahoo

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Preprint Sep 2026

DATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models

Collecting high-quality robot data remains a fundamental challenge for training robot foundation models. Task and motion planning (TAMP) offers a scalable way to generate demonstrations, but our experiments show that raw TAMP trajectories provide surprisingly little benefit when used to fine-tune pretrained vision-lang...

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

Human teleoperators spend substantial time demonstrating behaviors that robots can already perform autonomously, limiting the scalability of data collection for robot foundation models. Task and motion planning (TAMP) can automate many of these behaviors, but a fixed planning domain may not support every stage of a lon...

Samrat Sahoo, Li Ji, Tom Silver et al. · 0 citations

Preprint Sep 2026

One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

Dexterous manipulation with multi-fingered robot hands promises human-level dexterity, but collecting large-scale dexterous robot hand data remains difficult. Learning from human demonstrations has emerged as a scalable alternative to robot teleoperation, providing strong priors on object interaction and contact strate...

Satvik Sharma, Samrat Sahoo, Huang Huang et al. · 2 citations · ⚡1