Author

Ji-Xin Yan

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Preprint Oct 2026

RoboDoctor: Training-Free Recursive Self-Improvement for Robot Policies

Generalist robot policies and language-model agents provide complementary capabilities, but completing a task also requires adapting their use to the consequences of physical interaction. We study execution as a locus of adaptation: feedback guides the current action and supplies evidence for revising subsequent decisi...

He-Yang Yu, Hao-Min Li, Si-Hang Li et al. · 0 citations

Preprint Aug 2026

MANIGUARD: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation

Foundation-model policies for robotic manipulation are advancing rapidly on task success, but rigorous evaluation of whether they succeed safely is still lacking. We introduce ManiGuard, a specification-grounded framework for evaluating and improving the safety of foundation-model manipulation, comprising the ManiGuard...

Yi Peng, Philip Wang, Simon Sinong Zhan et al. · 2 citations · ⚡1