Author

Aiden Swann

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Preprint Sep 2026

Training-free Behavior Cloning

Neural behavior cloning compresses demonstrations into large models, making individual actions difficult to trace and policy updates costly. Retrieval policies retain access to demonstrations but struggle with mismatch between recorded and live behavior. We introduce Behavior Predictive Control (BPC), which synthesizes...

M. Adang, Timothy Chen, Lars W. Osterberg et al. · 0 citations

Preprint Oct 2026

Causal Analysis of Robot Foundation Models Enables Efficiency Gains

Vision-language-action (VLA) models are a promising approach to general purpose robot manipulation. While the internal computation of vision-language models, which compose the backbone of VLAs, has been studied extensively, less is known about how their perceptual and semantic representations are transformed into actio...

Aiden Swann, Mathilde Papillon, Mozes Jacobs et al. · 0 citations

#machine learning Preprint Oct 2026

A Phenomenology of Neural Geometry in Vision-Language-Action Models

Overall, this work lays out an initial phenomenology of realized geometry in VLA policies and demonstrates that a concept's shape carries as much importance as its readability.

Mozes Jacobs, Aiden Swann, Mathilde Papillon et al. · 0 citations