Authors

Andrew Melnik

Publications 2

Preprint Open access

Reliability-Aware Future Conditioning for Temporally Robust Robot Manipulation

Mohammad Khoshnazar, Mohammad Dehghani Tezerjani, Zhiyuan Gao et al. · 2026

A generated video of a task the robot is about to perform is useful guidance only if it depicts the phase the robot is actually in. We show that temporal misalignment can turn a task-consistent generated future into actively harmful guidance. On CALVIN, a five-frame early shift nearly erases the benefit of generated fu …

Preprint Open access

CAPABLE: Capability-Aware Policy Adaptation via Behavioral Latent Encoding

Mohammad Khoshnazar, Mohammad Dehghani Tezerjani, Deyuan Qu et al. · 2026

Vision-language-action (VLA) policies assume the embodiment on which they were trained and can fail when a joint fault changes how commanded actions are physically executed. Existing fault-recovery methods often require task-specific retraining, fault labels, explicit diagnosis, or privileged embodiment information. We …

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