Author

Stephen Tian

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#machine learning Preprint Oct 2026

MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation

Mobile manipulators such as humanoid robots are increasingly deployed in dynamic, unstructured environments to perform dexterous manipulation tasks. However, end-to-end manipulation policies trained to imitate demonstration data collected from a single robot pose are brittle: even centimeter-scale deviations in robot p...

Suzannah Wistreich, Stephen Tian, Isabella Huang et al. · 0 citations

#artificial intelligence Jun 2026

InSight: Self-Guided Skill Acquisition via Steerable VLAs

InSight is a framework for self-guided skill acquisition that uses a VLM to identify primitives missing from a VLA's repertoire, grounds the VLM's proposals through robot execution, and distills new primitives from successful rollouts into the VLA.

M. Wang, Lars W. Osterberg, Stephen Tian et al. · arXiv.org · 3 citations · ⚡1