5 papers
The Model Says Walk: How Surface Heuristics Override Implicit Constraints in LLM Reasoning
Yubo Li, Lu Zhang, Tianchong Jiang +2
Large language models fail when a salient surface cue conflicts with an unstated feasibility constraint. We introduce the Heuristic Override Benchmark (HOB): 500 instances spanning…
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…
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…
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…