Author

Tom Silver

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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