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Simplex Relaxation for Discrete Diffusion
Jinya Sakurai, Patrick Pynadath, Satoshi Hayakawa +4
Discrete diffusion models for categorical generation are defined by a corruption kernel, which determines the intermediate state space and the associated reverse prediction problem…
Ego2World: Compiling Egocentric Cooking Videos into Executable Worlds for Belief-State Planning
Qinchuan Cheng, Zhantao Gong, Pengzhan Sun +3
Embodied agents in household environments must plan under partial observation: they need to remember objects, track state changes, and recover when actions fail. Existing benchmark…
Grounding by Remembering: Cross-Scene and In-Scene Memory for 3D Functional Affordances
Qirui Wang, Jingyi He, Yining Pan +2
Functional affordance grounding requires more than recognizing an object: an agent must localize the specific region that supports an interaction, such as the handle to pull or the…
PRISM: : Planning and Reasoning with Intent in Simulated Embodied Environments
Yunn Kang Lim, Pengzhan Sun, Ziyi Bai +4
When an LLM-based embodied agent fails at a household task, the culprit could be misidentified objects, forgotten sub-goals, or poor action sequencing -- yet existing benchmarks re…
CERSA: Cumulative Energy-Retaining Subspace Adaptation for Memory-Efficient Fine-Tuning
Jingze Ge, Xue Geng, Yun Liu +6
To mitigate the memory constraints associated with fine-tuning large pre-trained models, existing parameter-efficient fine-tuning (PEFT) methods, such as LoRA, rely on low-rank upd…