publications & pre-prints

2026

1. arXiv

   

   Ludi 0.1: An Agentic System for Socially Intelligent Robots

   Wooseong Chung, William Cong, Jakub Dworakowski, Ethan Ewer, Tri Wahyu Guntara, Yeonwoo Jeong, Tianchong Jiang , Chaewon Kim, Hyunseo Kim, Jinwoo Kim, Jinyeon Kim, Yea-Seul Kim, Jack Kunde, Kangwook Lee, Sangheon Lee, Robert Nowak, and Junha Roh

   project page | arXiv | pdf | bib

   arXiv 2026

   @article{ludo2026ludi,
     title = {Ludi 0.1: An Agentic System for Socially Intelligent Robots},
     author = {Chung, Wooseong and Cong, William and Dworakowski, Jakub and Ewer, Ethan and Guntara, Tri Wahyu and Jeong, Yeonwoo and Jiang, Tianchong and Kim, Chaewon and Kim, Hyunseo and Kim, Jinwoo and Kim, Jinyeon and Kim, Yea-Seul and Kunde, Jack and Lee, Kangwook and Lee, Sangheon and Nowak, Robert and Roh, Junha},
     journal = {arXiv preprint arXiv:2608.22035},
     year = {2026},
   }

2. CoRL

   

   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

   CoRL 2026 (To Appear)

   also IROS 2026 RGMCW workshop (Best Abstract Award).

   @inproceedings{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},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2026},
   }

3. 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},
   }

4. 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},
   }