6 papers
AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
Chenxi Wang, Ying Feng, Hongjie Fang +4
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retarg…
Towards Tight Bounds for Streaming Attention
Justin Y. Chen, Ying Feng, Piotr Indyk +3
The attention mechanism is a cornerstone of modern transformer architectures. However, its expressive power comes at the cost of quadratic runtime and linear space usage. In partic…
Provable Quantization with Randomized Hadamard Transform
Ying Feng, Piotr Indyk, Michael Kapralov +2
Vector quantization via random projection followed by scalar quantization is a fundamental primitive in machine learning, with applications ranging from similarity search to federa…
Learning Dexterous Manipulation with Quantized Hand State
Ying Feng, Hongjie Fang, Yinong He +5
Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the hi…
Even Faster Algorithm for the Chamfer Distance
Ying Feng, Piotr Indyk
For two d-dimensional point sets A, B of size up to n, the Chamfer distance from A to B is defined as CH(A,B) = \sum_{a \in A} \min_{b \in B} \|a-b\|. The Chamfer distance is a wid…
On Differential Privacy for Adaptively Solving Search Problems via Sketching
Shiyuan Feng, Ying Feng, George Z. Li +3
Recently differential privacy has been used for a number of streaming, data structure, and dynamic graph problems as a means of hiding the internal randomness of the data structure…