4 papers
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning +3
We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \& task cells,…
TrianguLang: Geometry-Aware Semantic Consensus for Pose-Free 3D Localization
Bryce Grant, Aryeh Rothenberg, Atri Banerjee +1
Localizing objects and parts from natural language in 3D space is essential for robotics, AR, and embodied AI, yet existing methods face a trade-off between the accuracy and geomet…
VTok: A Unified Video Tokenizer with Decoupled Spatial-Temporal Latents
Feng Wang, Yichun Shi, Ceyuan Yang +4
This work presents VTok, a unified video tokenization framework that can be used for both generation and understanding tasks. Unlike the leading vision-language systems that tokeni…
Spiral RoPE: Rotate Your Rotary Positional Embeddings in the 2D Plane
Haoyu Liu, Sucheng Ren, Tingyu Zhu +5
Rotary Position Embedding (RoPE) is the de facto positional encoding in large language models due to its ability to encode relative positions and support length extrapolation. When…