Author

Andrew F. Luo

2 papers indexed here

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Preprint Sep 2026

Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

Robotic data generation is a promising paradigm for scaling robot learning without collecting large-scale real-world data. However, generating geometrically diverse yet physically valid data for contact-rich tasks remains challenging, especially when success depends on precise geometric interfaces. Standard shape augme...

Tian-Yi Xiang, Xupeng Xie, Jia-Hang Cao et al. · 0 citations

#machine learning Preprint Oct 2026

Encoded but Not in Control: Revealing the Grounding Gap in Vision-Language Robot Policies

Instruction following is central to language-conditioned robot policies: language should determine what to do when the same scene permits multiple valid actions. Yet successful execution alone cannot establish whether a policy follows the instruction or infers the task from the scene. We study this ambiguity through sc...

Shao-Han Jiang, Jia-Hang Cao, Qi-Duo He et al. · 0 citations