CareEval: Evaluating Large Language Models for Decision-Making in Physical Robot Caregiving.

Ziang Liu 0002 Cornell University, Ithaca, NY, USA University of Southern California, Department of Computer Science, Los Angeles, CA, USA https://orcid.org/0000-0001-6274-0459 https://www.wikidata.org/entity/Q130844799 Ziang Liu Ziang Liu 0001 Shanghai Jiao Tong University, China Brown University, RI, USA https://scholar.google.com/citations?user=EfNcWykAAAAJ https://orcid.org/0000-0002-9141-8255 Ziang Liu 0003 Huazhong University of Science and Technology, School of Artificial Intelligence and Automation, MOE Key Laboratory of Image Processing and Intelligent Control, Wuhan, China Ziang Liu 0004 Okayama University, Japan Osaka University, Toyonaka, Japan https://zi-ang-liu.github.io/ https://orcid.org/0000-0002-1364-3502 Ziang Liu 0005 University of Alberta, Faculty of Science, Edmonton, AB, Canada https://orcid.org/0000-0003-3475-9915 Ziang Liu 0006 Lanzhou University, School of Information Science and Engineering, China https://orcid.org/0009-0007-8559-9938 Ziang Liu 0007 Australian National University, Canberra, Australia Ziang Liu 0008 Stanford University, CA, USA Ziang Liu 0009 Harbin Institute of Technology, School of Astronautics, China Ziang Liu 0010 Imperial College, London, UK https://orcid.org/0000-0003-0009-8397 Ziang Liu 0011 Fudan University, Academy for Engineering and Technology, Shanghai, China https://orcid.org/0000-0003-3202-2821 Ziang Liu 0012 Northeastern University, College of Computer Science and Engineering, Shenyang, China https://orcid.org/0009-0004-4214-3648 Ziang Liu 0013 Southeast University, School of Computer Science and Engineering, Nanjing, China Ziang Liu 0014 Hohai University, College of Computer and Information, Nanjing, China Ziang Liu 0015 Tsinghua University, Department of Computer Science and Technology, Beijing, China https://orcid.org/0009-0006-5101-0024 Ziang Liu 0016 Carnegie Mellon University, Pittsburgh, PA, USA Ziang Liu 0017 Chinese Academy of Sciences, Xinjiang Technical Institute of Physics & Chemistry, Urumqi, China https://orcid.org/0009-0005-2007-9734 Ziang Liu 0018 Dalian Polytechnic University, School of Information Science and Engineering, China Ziang Liu 0019 East China Normal University, School of Computer Science and Technology, Shanghai, China Ziang Liu 0002 Katherine Dimitropoulou Christy Sum Yu Cheung Tapomayukh Bhattacharjee CareEval: Evaluating Large Language Models for Decision-Making in Physical Robot Caregiving. 57-62 2026 HRI Companion https://doi.org/10.1145/3776734.3794354 conf/hri/2026c db/conf/hri/hri2026c.html#0002DCB26 Ziang Liu 0002 Yuanchen Ju Yu Da Tom Silver Pranav N. Thakkar Jenna Li Justin Guo Katherine Dimitropoulou Tapomayukh Bhattacharjee GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings. 686-695 2025 HRI https://doi.org/10.1109/HRI61500.2025.10974054 conf/hri/2025 db/conf/hri/hri2025.html#0002JDSTLGDB25 Xiaoyu Liang Ziang Liu 0002 Kelvin Lin Edward Gu Ruolin Ye Tam Nguyen Cynthia Hsu Zhanxin Wu Xiaoman Yang Christy Sum Yu Cheung Harold Soh Katherine Dimitropoulou Tapomayukh Bhattacharjee OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving. 2661-2668 2025 IROS https://doi.org/10.1109/IROS60139.2025.11247516 conf/iros/2025 db/conf/iros/iros2025.html#LiangLLGYNHWYCSDB25 streams/conf/iros

Ziang Liu 0002 Yuanchen Ju Yu Da Tom Silver Pranav N. Thakkar Jenna Li Justin Guo Katherine Dimitropoulou Tapomayukh Bhattacharjee GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings. 2025 January abs/2501.17855 CoRR https://doi.org/10.48550/arXiv.2501.17855 db/journals/corr/corr2501.html#abs-2501-17855 streams/journals/corr

Tom Silver Rajat Kumar Jenamani Ziang Liu 0002 Ben Dodson Tapomayukh Bhattacharjee Coloring Between the Lines: Personalization in the Null Space of Planning Constraints. 2025 May abs/2505.15503 CoRR https://doi.org/10.48550/arXiv.2505.15503 db/journals/corr/corr2505.html#abs-2505-15503 streams/journals/corr

Rajat Kumar Jenamani Tom Silver Ben Dodson Shiqin Tong Anthony Song Yuting Yang Ziang Liu 0002 Benjamin Howe Aimee Whitneck Tapomayukh Bhattacharjee FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization. 2025 June abs/2506.14968 CoRR https://doi.org/10.48550/arXiv.2506.14968 db/journals/corr/corr2506.html#abs-2506-14968 streams/journals/corr

Xiaoyu Liang Ziang Liu 0002 Kelvin Lin Edward Gu Ruolin Ye Tam Nguyen Cynthia Hsu Zhanxin Wu Xiaoman Yang Christy Sum Yu Cheung Harold Soh Katherine Dimitropoulou Tapomayukh Bhattacharjee OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving. 2025 November abs/2511.13707 CoRR https://doi.org/10.48550/arXiv.2511.13707 db/journals/corr/corr2511.html#abs-2511-13707 streams/journals/corr

Zhiwen Qiu Ziang Liu 0002 Wenqian Niu Tapomayukh Bhattacharjee Saleh Kalantari EgoCogNav: Cognition-aware Human Egocentric Navigation. 2025 November abs/2511.17581 CoRR https://doi.org/10.48550/arXiv.2511.17581 db/journals/corr/corr2511.html#abs-2511-17581 streams/journals/corr

Eley Ng Ziang Liu 0002 Monroe Kennedy 0001 Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks. 215-222 2024 January 9 IEEE Robotics Autom. Lett. 1 https://doi.org/10.1109/LRA.2023.3330663 db/journals/ral/ral9.html#NgLK24

Ethan K. Gordon Rajat Kumar Jenamani Amal Nanavati Ziang Liu 0002 Daniel Stabile Xilai Dai Tapomayukh Bhattacharjee Tyler Schrenk Jonathan Ko Haya Bolotski Raida Karim Atharva Kashyap Bernie Hao Zhu Taylor Kessler Faulkner Siddhartha S. Srinivasa An Adaptable, Safe, and Portable Robot-Assisted Feeding System. 74-76 2024 HRI (Companion) https://doi.org/10.1145/3610978.3641085 https://www.wikidata.org/entity/Q130844810 conf/hri/2024c db/conf/hri/hri2024c.html#GordonJNLSDBSKB24 Rajat Kumar Jenamani Daniel Stabile Ziang Liu 0002 Abrar Anwar Katherine Dimitropoulou Tapomayukh Bhattacharjee Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control. 313-322 2024 HRI https://doi.org/10.1145/3610977.3634975 https://ieeexplore.ieee.org/document/10660886 https://www.wikidata.org/entity/Q130849942 conf/hri/2024 db/conf/hri/hri2024.html#JenamaniSLADB24 Nayoung Ha Ruolin Ye Ziang Liu 0002 Shubhangi Sinha Tapomayukh Bhattacharjee REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding. 7048-7055 2024 IROS https://doi.org/10.1109/IROS58592.2024.10801368 conf/iros/2024 db/conf/iros/iros2024.html#HaY0SB24

Rajat Kumar Jenamani Daniel Stabile Ziang Liu 0002 Abrar Anwar Katherine Dimitropoulou Tapomayukh Bhattacharjee Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control. 2024 abs/2403.04067 CoRR https://doi.org/10.48550/arXiv.2403.04067 db/journals/corr/corr2403.html#abs-2403-04067

Ethan Kroll Gordon Rajat Kumar Jenamani Amal Nanavati Ziang Liu 0002 Haya Bolotski Raida Karim Daniel Stabile Atharva Kashyap Bernie Hao Zhu Xilai Dai Tyler Schrenk Jonathan Ko Taylor Kessler Faulkner Tapomayukh Bhattacharjee Siddhartha S. Srinivasa An Adaptable, Safe, and Portable Robot-Assisted Feeding System. 2024 abs/2403.04134 CoRR https://doi.org/10.48550/arXiv.2403.04134 db/journals/corr/corr2403.html#abs-2403-04134

Nayoung Ha Ruolin Ye Ziang Liu 0002 Shubhangi Sinha Tapomayukh Bhattacharjee REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding. 2024 abs/2410.10017 CoRR https://doi.org/10.48550/arXiv.2410.10017 db/journals/corr/corr2410.html#abs-2410-10017 streams/journals/corr

Eric Heiden Ziang Liu 0002 Vibhav Vineet Erwin Coumans Gaurav S. Sukhatme Inferring Articulated Rigid Body Dynamics from RGBD Video. 8383-8390 2022 IROS https://doi.org/10.1109/IROS47612.2022.9981687 conf/iros/2022 db/conf/iros/iros2022.html#Heiden0VCS22

Eric Heiden Ziang Liu 0002 Vibhav Vineet Erwin Coumans Gaurav S. Sukhatme Inferring Articulated Rigid Body Dynamics from RGBD Video. 2022 abs/2203.10488 CoRR https://doi.org/10.48550/arXiv.2203.10488 db/journals/corr/corr2203.html#abs-2203-10488

Heramb Nemlekar Ziang Liu 0002 Suraj Kothawade Sherdil Niyaz Barath Raghavan Stefanos Nikolaidis Robotic Lime Picking by Considering Leaves as Permeable Obstacles. 3278-3284 2021 IROS https://doi.org/10.1109/IROS51168.2021.9636396 conf/iros/2021 db/conf/iros/iros2021.html#Nemlekar0KNRN21 Han Zhang 0018 Mingze Yao Ziang Liu 0002 Jiaoyang Li 0001 Lucas Terr Shao-Hung Chan T. K. Satish Kumar Sven Koenig A Hierarchical Approach to Multi-Agent Path Finding. 209-211 2021 SOCS https://doi.org/10.1609/socs.v12i1.18586 conf/socs/2021 db/conf/socs/socs2021.html#ZhangYL0TCKK21

Heramb Nemlekar Ziang Liu 0002 Suraj Kothawade Sherdil Niyaz Barath Raghavan Stefanos Nikolaidis Robotic Lime Picking by Considering Leaves as Permeable Obstacles. 2021 abs/2108.13889 CoRR https://arxiv.org/abs/2108.13889 db/journals/corr/corr2108.html#abs-2108-13889

Eric Heiden Ziang Liu 0002 Ragesh K. Ramachandran Gaurav S. Sukhatme Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking. 2595-2601 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9197138 conf/icra/2020 db/conf/icra/icra2020.html#HeidenLRS20

Eric Heiden Ziang Liu 0002 Ragesh K. Ramachandran Gaurav S. Sukhatme Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking. 2019 abs/1912.01652 CoRR http://arxiv.org/abs/1912.01652 db/journals/corr/corr1912.html#abs-1912-01652

Abrar Anwar Tapomayukh Bhattacharjee Haya Bolotski Shao-Hung Chan Christy Sum Yu Cheung Erwin Coumans Yu Da Xilai Dai Katherine Dimitropoulou Ben Dodson Taylor Kessler Faulkner Ethan K. GordonEthan Kroll Gordon Edward Gu Justin Guo Nayoung Ha Eric Heiden Benjamin Howe Cynthia Hsu Rajat Kumar Jenamani Yuanchen Ju Saleh Kalantari Raida Karim Atharva Kashyap Monroe Kennedy IIIMonroe Kennedy 0001 Jonathan Ko Sven Koenig Suraj Kothawade T. K. Satish Kumar Jenna Li Jiaoyang Li 0001 Xiaoyu Liang Kelvin Lin Amal Nanavati Heramb Nemlekar Eley Ng Tam Nguyen Stefanos Nikolaidis Wenqian Niu Sherdil Niyaz Zhiwen Qiu Barath Raghavan Ragesh K. Ramachandran Tyler Schrenk Tom Silver Shubhangi Sinha Harold Soh Anthony Song Siddhartha S. Srinivasa Daniel Stabile Gaurav S. Sukhatme Lucas Terr Pranav N. Thakkar Shiqin Tong Vibhav Vineet Aimee Whitneck Zhanxin Wu Xiaoman Yang Yuting Yang Mingze Yao Ruolin Ye Han Zhang 0018 Hao Zhu 0008Bernie Hao Zhu