3 papers
cs.RO2025
PAC Bench: Do Foundation Models Understand Prerequisites for Executing Manipulation Policies?
Atharva Gundawar, Som Sagar, Ransalu Senanayake
Vision-Language Models (VLMs) are increasingly pivotal for generalist robot manipulation, enabling tasks such as physical reasoning, policy generation, and failure detection. Howev…
cs.RO2025
Viewpoint-Agnostic Manipulation Policies with Strategic Vantage Selection
Sreevishakh Vasudevan, Som Sagar, Ransalu Senanayake
Since vision-based manipulation policies are typically trained from data gathered from a single viewpoint, their performance drops when the view changes during deployment. Naively…
cs.CL2024
ExpressivityBench: Can LLMs Communicate Implicitly?
Joshua Tint, Som Sagar, Aditya Taparia +4
Human communication is often implicit, conveying tone, identity, and intent beyond literal meanings. While large language models have achieved strong performance on explicit tasks…