3 papers
cs.RO2026
Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation
Jiahao Xu, Peiyuan Wang, Hanzhuo Zhang +7
In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable effici…
cs.CL2025
MLAN: Language-Based Instruction Tuning Preserves and Transfers Knowledge in Multimodal Language Models
Jianhong Tu, Zhuohao Ni, Nicholas Crispino +8
We present a novel visual instruction tuning strategy to improve the zero-shot task generalization of multimodal large language models by building a firm text-only knowledge base.…
cs.CL2025
COSMIC: Generalized Refusal Direction Identification in LLM Activations
Vincent Siu, Nicholas Crispino, Zihao Yu +5
Large Language Models (LLMs) encode behaviors such as refusal within their activation space, yet identifying these behaviors remains a significant challenge. Existing methods often…