Detecting subtle forms of dishonesty like sycophancy and manipulation in Large Language Models (LLMs) remains challenging for both humans and automated evaluators, as these behaviors often appear through small biases rather than clear false statements. We introduce Judge Using Safety-Steered Alternatives (JUSSA), a novel framework that employs steering vectors not to improve model behavior directly, but to enhance LLM judges' evaluation capabilities. JUSSA applies steering vectors during inference to generate more honest alternatives, providing judges with contrastive examples that make subtle dishonest patterns easier to detect. While existing evaluation methods rely on black-box evaluation, JUSSA leverages model internals to create targeted comparisons from single examples. We evaluate our method on sycophancy detection and introduce a new manipulation dataset covering multiple types of manipulation. Our results demonstrate that JUSSA effectively improves detection accuracy over single-response evaluation in various cases. Analysis across judge models reveals that JUSSA helps weaker judges on easier dishonesty detection tasks, and stronger judges on harder tasks. Layer-wise experiments show how dishonest prompts cause representations to diverge from honest ones in middle layers, revealing where steering interventions are most effective for generating contrastive examples. By demonstrating that steering vectors can enhance safety evaluation rather than just modify behavior, our work opens new directions for scalable model auditing as systems become increasingly sophisticated.

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary robot arms, and the few existing humanoid datasets are either confined to fixed environments or limited in task diversity, often lacking human-humanoid interaction and lower-body locomotion. Moreover, there are a few standardized evaluation platforms for benchmarking learning-based policies on humanoid data. In this work, we present Humanoid Everyday, a large-scale and diverse humanoid manipulation dataset characterized by extensive task variety involving dextrous object manipulation, human-humanoid interaction, locomotion-integrated actions, and more. Leveraging a highly efficient human-supervised teleoperation pipeline, Humanoid Everyday aggregates high-quality multimodal sensory data, including RGB, depth, LiDAR, and tactile inputs, together with natural language annotations, comprising 10.3k trajectories and over 3 million frames of data across 260 tasks across 7 broad categories. In addition, we conduct an analysis of representative policy learning methods on our dataset, providing insights into their strengths and limitations across different task categories. For standardized evaluation, we introduce a cloud-based evaluation platform that allows researchers to seamlessly deploy their policies in our controlled setting and receive performance feedback. By releasing Humanoid Everyday along with our policy learning analysis and a standardized cloud-based evaluation platform, we intend to advance research in general-purpose humanoid manipulation and lay the groundwork for more capable and embodied robotic agents in real-world scenarios. Our dataset, data collection code, and cloud evaluation website are made publicly available on our project website.

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for camera-to-robot calibration. While the existing markerless pose estimation methods have demonstrated impressive accuracy without the need for cumbersome setups, they rely on the assumption that all the robot joints are visible within the camera's field of view. However, in practice, robots usually move in and out of view, and some portion of the robot may stay out-of-frame during the whole manipulation task due to real-world constraints, leading to a lack of sufficient visual features and subsequent failure of these approaches. To address this challenge and enhance the applicability to vision-based robot control, we propose a novel framework capable of estimating the robot pose with partially visible robot manipulators. Our approach leverages the Vision-Language Models for fine-grained robot components detection, and integrates it into a keypoint-based pose estimation network, which enables more robust performance in varied operational conditions. The framework is evaluated on both public robot datasets and self-collected partial-view datasets to demonstrate our robustness and generalizability. As a result, this method is effective for robot pose estimation in a wider range of real-world manipulation scenarios.

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how diverse can the robots in the training set be while still facilitating positive transfer? In this work, we study this question in the context of heterogeneous embodiments, examining how even seemingly very different domains, such as robotic navigation and manipulation, can provide benefits when included in the training data for the same model. We train a single goal-conditioned policy that is capable of controlling robotic arms, quadcopters, quadrupeds, and mobile bases. We then investigate the extent to which transfer can occur across navigation and manipulation on these embodiments by framing them as a single goal-reaching task. We find that co-training with navigation data can enhance robustness and performance in goal-conditioned manipulation with a wrist-mounted camera. We then deploy our policy trained only from navigation-only and static manipulation-only data on a mobile manipulator, showing that it can control a novel embodiment in a zero-shot manner. These results provide evidence that large-scale robotic policies can benefit from data collected across various embodiments. Further information and robot videos can be found on our project website http://extreme-cross-embodiment.github.io.

Two years ago, Stanford Artificial Intelligence Lab Director Fei-Fei Li and her team launched the global platforms RoboTurk and Surreal to crowd-source high-quality task demonstration data that could help researchers working in robotic manipulation. Now, the wait is over. The Stanford Vision and Learning Lab announced this week that the RoboTurk Real Roboto Dataset is available as a free download. The crowdsourcing produced 111.25 hours of video from 54 non-expert demonstrators to build "one of the largest, richest, and most diverse robot manipulation datasets ever collected using human creativity and dexterity." Participants used smartphones and browsers to access the original RoboTurk crowdsourcing platform, where they could remotely control robot simulations in real time.