6 papers
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel +4
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanu…
Velocity Potential Neural Field for Efficient Ambisonics Impulse Response Modeling
Yoshiki Masuyama, Francois G. Germain, Gordon Wichern +2
First-order Ambisonics (FOA) is a standard spatial audio format based on spherical harmonic decomposition. Its zeroth- and first-order components capture the sound pressure and par…
SpinBench: Perspective and Rotation as a Lens on Spatial Reasoning in VLMs
Yuyou Zhang, Radu Corcodel, Chiori Hori +2
We present SpinBench, a cognitively grounded diagnostic benchmark for evaluating spatial reasoning in vision language models (VLMs). SpinBench is designed around the core challenge…
Embedding Morphology into Transformers for Cross-Robot Policy Learning
Kei Suzuki, Jing Liu, Ye Wang +4
Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, su…
Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM
Chiori Hori, Yoshiki Masuyama, Siddarth Jain +4
Human-robot collaboration towards a shared goal requires robots to understand human action and interaction with the surrounding environment. This paper focuses on human-robot inter…
Factorized RVQ-GAN For Disentangled Speech Tokenization
Sameer Khurana, Dominik Klement, Antoine Laurent +13
We propose Hierarchical Audio Codec (HAC), a unified neural speech codec that factorizes its bottleneck into three linguistic levels-acoustic, phonetic, and lexical-within a single…