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Zhiqiao Guo

Publications and source records attributed to Zhiqiao Guo.

2 recordsLinked to original sources

SQLStructEval: Structural Evaluation of LLM Text-to-SQL Generation

In Text-to-SQL tasks, large language models can generate structurally different SQL queries that return correct answers for the same intent. We call this phenomenon execution-correct structural divergence (ECSD). We introduce SQLStructEval, a framework that analyzes this behavior through canonical abstract syntax tree representations. We quantify structural diversity and agreement across generations. Experiments with different LLMs on multiple Text-to-SQL datasets, including Spider, document ECSD across models and datasets. Furthermore, our experiments demonstrate that generated queries are sensitive to question paraphrases and schema presentation. To address ECSD, we adopt a pipeline that first generates structured intermediate representations and then deterministically compiles them into SQL, improving execution accuracy and structural agreement among correct outputs. Structural analysis thus provides an additional diagnostic perspective that complements execution-based evaluation. Code is available at https://xanderzhou2022.github.io/AACL2026-SQLSTRUCTEVAL/.

cs.CL↗

Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain

Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-aligned terrain regions rather than the robot's oriented body footprint. For wheeled-legged robots, this abstraction can miss partial support loss and body-terrain interference, especially during turns. We present Robot-Body-Aware TRG planning (RB-TRG), which builds on the sparse TRG representation and lifts edge-wise terrain-risk search to heading- and turn-aware body-risk transitions. An oriented rectangular footprint is sampled along graph edges and yaw sweeps to measure longitudinal support variation, lateral inclination, terrain interference, and exposure to untrusted map regions. Mean-and-upper-tail features are incorporated into transition costs, whose accumulated value is minimized by A* over ordered node-pair states, preserving TRG construction and its planning interface. We evaluate RB-TRG in a same-graph study on four scanned terrain environments and in paired closed-loop MuJoCo trials. RB-TRG reduces the three core geometric body-placement metrics and increases end-to-end success from 51.5% to 68.5%, while increasing mean path length by 2.3%. A Go2-W deployment further demonstrates RB-TRG with a full LiDAR navigation stack, which received the Best Autonomy and Best Mobility awards at the IEEE ICRA 2026 Legged Robot Challenges. The code for RB-TRG is released at https://github.com/ZhiqiaoGuo/RB-TRG.

cs.RO↗