8 citations · 8 across the 8 of their papers we have counts for
9 papers
Ludi: An Agentic System for Socially Intelligent Robots
Wooseong Chung, William Cong, Jakub Dworakowski +14
Robot foundation models have substantially advanced perception and control, but natural human-robot collaboration requires more than executing isolated commands. A robot must recog…
What Are We Actually Benchmarking in Robot Manipulation?
Tianchong Jiang, Xiangshan Tan, Samuel Wheeler +3
A robotics benchmark score measures success under one fixed evaluation setup, yet is routinely treated as evidence of general manipulation capability. We identify four failure mode…
HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation
Xiangshan Tan, Jingtian Ji, Tianchong Jiang +2
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive di…
The Model Says Walk: Measuring whether LLMs Condition on Hidden Constraints
Yubo Li, Lu Zhang, Tianchong Jiang +2
Asked whether to walk or drive to a car wash 50 m away, most language models say walk, forgetting that the car has to be there. Such failures are usually measured by accuracy on qu…
Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning
Tianchong Jiang, Jingtian Ji, Xiangshan Tan +4
We study view-invariant imitation learning by explicitly conditioning policies on camera extrinsics. Using Plucker embeddings of per-pixel rays, we show that conditioning on extrin…
PROGRESSOR: A Perceptually Guided Reward Estimator with Self-Supervised Online Refinement
Tewodros Ayalew, Xiao Zhang, Kevin Yuanbo Wu +3
We present PROGRESSOR, a novel framework that learns a task-agnostic reward function from videos, enabling policy training through goal-conditioned reinforcement learning (RL) with…
StackGen: Generating Stable Structures from Silhouettes via Diffusion
Luzhe Sun, Takuma Yoneda, Samuel W. Wheeler +2
Humans naturally obtain intuition about the interactions between and the stability of rigid objects by observing and interacting with the world. It is this intuition that governs t…
6-DoF Stability Field via Diffusion Models
Takuma Yoneda, Tianchong Jiang, Gregory Shakhnarovich +1
A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, ha…
Statler: State-Maintaining Language Models for Embodied Reasoning
Takuma Yoneda, Jiading Fang, Peng Li +7
There has been a significant research interest in employing large language models to empower intelligent robots with complex reasoning. Existing work focuses on harnessing their ab…