publications & pre-prints

2026

1. arXiv

   

   What Are We Actually Benchmarking in Robot Manipulation?

   Tianchong Jiang , Xiangshan Tan^*, Samuel Wheeler^*, Luzhe Sun^*, Tewodros W. Ayalew^*, and Matthew Walter

   project page | arXiv | pdf | code | bib

   arXiv 2026

   @article{jiang2026benchmarking,
     title = {What Are We Actually Benchmarking in Robot Manipulation?},
     author = {Jiang, Tianchong and Tan, Xiangshan and Wheeler, Samuel and Sun, Luzhe and Ayalew, Tewodros W. and Walter, Matthew},
     journal = {arXiv preprint arXiv:2606.04233},
     year = {2026},
   }

2. ICRA

   

   Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning

   Tianchong Jiang , Jingtian Ji, Xiangshan Tan, Jiading Fang, Anand Bhattad, Vitor Guizilini^†, and Matthew R. Walter^†

   project page | arXiv | pdf | code | dataset | bib

   ICRA 2026 (Best Paper Award on Robot Learning)

   @inproceedings{jiang2026camera,
     title = {Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning},
     author = {Jiang, Tianchong and Ji, Jingtian and Tan, Xiangshan and Fang, Jiading and Bhattad, Anand and Guizilini, Vitor and Walter, Matthew R.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
   }

3. ICRA

   

   HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation

   Xiangshan Tan, Jingtian Ji, Tianchong Jiang , Pedro Lopes, and Matthew R. Walter

   project page | arXiv | pdf | code | hardware | bib

   ICRA 2026

   @inproceedings{tan2026hapcompass,
     title = {HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation},
     author = {Tan, Xiangshan and Ji, Jingtian and Jiang, Tianchong and Lopes, Pedro and Walter, Matthew R.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
   }

2025

1. ICCV

   

   PROGRESSOR: A Perceptually Guided Reward Estimator with Self-Supervised Online Refinement

   Tewodros Ayalew, Xiao Zhang^*, Kevin Yuanbo Wu^*, Tianchong Jiang , Michael Maire, and Matthew R. Walter

   project page | arXiv | pdf | code | dataset | weights | bib

   ICCV 2025

   @inproceedings{ayalew2025progressor,
     title = {PROGRESSOR: A Perceptually Guided Reward Estimator with Self-Supervised Online Refinement},
     author = {Ayalew, Tewodros and Zhang, Xiao and Wu, Kevin Yuanbo and Jiang, Tianchong and Maire, Michael and Walter, Matthew R.},
     booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
     year = {2025},
   }

2. IROS

   

   StackGen: Generating Stable Structures from Silhouettes via Diffusion

   Luzhe Sun^*, Takuma Yoneda^*, Samuel W. Wheeler, Tianchong Jiang , and Matthew R. Walter

   project page | arXiv | pdf | bib

   IROS 2025

   @inproceedings{sun2025stackgen,
     title = {StackGen: Generating Stable Structures from Silhouettes via Diffusion},
     author = {Sun, Luzhe and Yoneda, Takuma and Wheeler, Samuel W. and Jiang, Tianchong and Walter, Matthew R.},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2025},
     doi = {10.1109/IROS60139.2025.11247239},
   }

2024

1. ICRA

   

   Statler: State-maintaining Language Models for Embodied Reasoning

   Takuma Yoneda^*, Jiading Fang^*, Peng Li^*, Huanyu Zhang^*, Tianchong Jiang , Shengjie Lin, Ben Picker, David Yunis, Hongyuan Mei, and Matthew R. Walter

   project page | arXiv | pdf | code | bib

   ICRA 2024

   @inproceedings{yoneda2024statler,
     title = {Statler: State-maintaining Language Models for Embodied Reasoning},
     author = {Yoneda, Takuma and Fang, Jiading and Li, Peng and Zhang, Huanyu and Jiang, Tianchong and Lin, Shengjie and Picker, Ben and Yunis, David and Mei, Hongyuan and Walter, Matthew R.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
     doi = {10.1109/ICRA57147.2024.10610634},
   }

2023

1. arXiv

   

   6-DoF Stability Field via Diffusion Models

   Takuma Yoneda^*, Tianchong Jiang^* , Gregory Shakhnarovich, and Matthew R. Walter

   arXiv | pdf | bib

   arXiv 2023

   @article{yoneda2023sixdof,
     title = {6-DoF Stability Field via Diffusion Models},
     author = {Yoneda, Takuma and Jiang, Tianchong and Shakhnarovich, Gregory and Walter, Matthew R.},
     journal = {arXiv preprint arXiv:2310.17649},
     year = {2023},
   }