Visible Touch: Rendering Contact for Visuomotor Policies
arXiv cs.RO ·
Integrating contact information into visuomotor policies remains an open problem. Touch is essential to robust manipulation, yet most modern policies, including pretrained visio…
Part Grounding, Not Action Knowledge: Locating the Bottleneck in VLM Affordance Prediction
arXiv cs.RO ·
Benchmarks agree that vision-language models reason poorly about low-level manipulation, but an aggregate accuracy score does not say which step fails. We separate two steps tha…
Hindsight Bias in Clinical Temporal Reasoning: How Future Data Exposure Affects Large Language Model Judgment
arXiv cs.CL ·
Clinical decisions are prospective, but clinical language models are often evaluated on retrospective records that reveal the final diagnosis, treatment response, and outcome. S…
Self-Indexing Attention for Compression-Compatible Sparse Long-Context LLM Inference
arXiv cs.CL ·
Sparse long-context inference requires efficient token retrieval in both prefill and decode. Existing methods often use different retrieval strategies for the two stages, preven…