6 papers
CostNav: A Navigation Benchmark for Real-World Economic-Cost Evaluation of Physical AI Agents
Haebin Seong, Sungmin Kim, Yongjun Cho +20
Current navigation benchmarks focus on task success but do not capture the economic constraints essential for commercializing autonomous delivery systems. We introduce CostNav, an…
vla-eval: A Unified Evaluation Harness for Vision-Language-Action Models
Suhwan Choi, Yunsung Lee, Yubeen Park +4
Vision-Language-Action (VLA) models are increasingly evaluated across multiple simulation benchmarks, yet adding each benchmark to an evaluation pipeline requires resolving incompa…
WorldCam: Interactive Autoregressive 3D Gaming Worlds with Camera Pose as a Unifying Geometric Representation
Jisu Nam, Yicong Hong, Chun-Hao Paul Huang +9
Recent advances in video diffusion transformers have enabled interactive gaming world models that allow users to explore generated environments over extended horizons. However, exi…
Revisiting Residual Connections: Orthogonal Updates for Stable and Efficient Deep Networks
Giyeong Oh, Woohyun Cho, Siyeol Kim +2
Residual connections are pivotal for deep neural networks, enabling greater depth by mitigating vanishing gradients. However, in standard residual updates, the module's output is d…
CANVAS: Commonsense-Aware Navigation System for Intuitive Human-Robot Interaction
Suhwan Choi, Yongjun Cho, Minchan Kim +9
Real-life robot navigation involves more than just reaching a destination; it requires optimizing movements while addressing scenario-specific goals. An intuitive way for humans to…
ESREAL: Exploiting Semantic Reconstruction to Mitigate Hallucinations in Vision-Language Models
Minchan Kim, Minyeong Kim, Junik Bae +3
Hallucinations in vision-language models pose a significant challenge to their reliability, particularly in the generation of long captions. Current methods fall short of accuratel…