6 citations · 8 across the 16 of their papers we have counts for
19 papers
Paraphrase Consensus Is Not Self-Consistency: Instruction Reliance and Robustness in VLA Policies
Hanlong Li, Sihan Tan, Takeshi Ashizawa +2
Vision-language-action (VLA) policies fine-tuned on LIBERO are trained and evaluated on the same ten instruction strings, and rewording the instruction changes base OpenVLA's succe…
BCNav: Bearing-Conditioned Depth Policies for Sound Source Navigation
Yaozhong Kang, Jiang Wang, Takeshi Ashizawa +2
The ability to navigate toward sound sources extends a robot's reach beyond its visual field, enabling response to auditory events in unknown environments. To equip robots with thi…
AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid
Hanlong Li, Sihan Tan, Takeshi Ashizawa +2
A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is no…
UNITE-AUDIO: Joint Learning of Continuous Tokenization and Latent Flow Matching for Text-to-Audio Generation
Runwu Shi, Kai Li, Yujin Wang +8
Text-to-audio (TTA) generation aims to synthesize realistic audio that faithfully reflects natural-language descriptions. Most TTA systems adopt a two-stage latent paradigm: an aud…
Exploring Efficient Waveform Diffusion Models for Foley Sound Generation
Runwu Shi, Chang Li, Jiahui Li +7
Recent advances in diffusion models have enabled high-fidelity Foley sound generation directly in the waveform space. Existing waveform diffusion models primarily rely on time-doma…
S2A2: Audio-Visual Imitation Learning for Manipulation Tasks Using Acoustic Spatial Information
Kaneyoshi Hiratsuka, Benjamin Yen, Ryosuke Kojima
Acoustic information provides rich cues about object location, material properties, and changes caused by contact or motion. This paper introduces a new set of acoustic-aware manip…
From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation
Nabeela Khan, Bowen Wu, Runwu Shi +5
Recent sign language generation (SLG) systems increasingly output dense 3D body representations, which better preserve full-body kinematics and geometry for downstream embodiment o…
What Do Neural Networks Learn for TDOA Estimation? A Cross-Architecture Probing Study
Yaozhong Kang, Jiang Wang, Runwu Shi +3
Neural networks outperform classical GCC-PHAT for Time-Difference-of-Arrival (TDOA) estimation in noise and reverberation, yet their internal strategy remains unexplored. To uncove…
Fast-SDE: Efficient Single-Microphone Sound Source Distance Estimation in Reverberant Environments
Jiang Wang, Runwu Shi, Yaozhong Kang +3
Sound source distance estimation (SDE) is a critical capability in human-robot interaction. An inappropriate interaction distance not only reduces the reliability of speech acquisi…
Ecologically-Constrained Task Arithmetic for Multi-Taxa Bioacoustic Classifiers Without Shared Data
Ragib Amin Nihal, Benjamin Yen, Runwu Shi +2
Training data for bioacoustics is scattered across taxa, regions, and institutions. Centralizing it all is often infeasible. We show that independently fine-tuned BEATs encoders ca…
Unsupervised Single-Channel Audio Separation with Diffusion Source Priors
Runwu Shi, Chang Li, Jiang Wang +5
Single-channel audio separation aims to separate individual sources from a single-channel mixture. Most existing methods rely on supervised learning with synthetically generated pa…
Cross-Attention with Confidence Weighting for Multi-Channel Audio Alignment
Ragib Amin Nihal, Benjamin Yen, Takeshi Ashizawa +1
Multi-channel audio alignment is a key requirement in bioacoustic monitoring, spatial audio systems, and acoustic localization. However, existing methods often struggle to address…
Knowledge-Augmented Vision Language Models for Underwater Bioacoustic Spectrogram Analysis
Ragib Amin Nihal, Benjamin Yen, Takeshi Ashizawa +1
Marine mammal vocalization analysis depends on interpreting bioacoustic spectrograms. Vision Language Models (VLMs) are not trained on these domain-specific visualizations. We inve…
Single-Microphone-Based Sound Source Localization for Mobile Robots in Reverberant Environments
Jiang Wang, Runwu Shi, Benjamin Yen +2
Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least t…
Single-Channel Target Speech Extraction Utilizing Distance and Room Clues
Runwu Shi, Zirui Lin, Benjamin Yen +3
This paper aims to achieve single-channel target speech extraction (TSE) in enclosures utilizing distance clues and room information. Recent works have verified the feasibility of…
Weakly Supervised Detection and Temporal Localization of Whale Calls in Long-Duration Bioacoustic Data
Ragib Amin Nihal, Benjamin Yen, Runwu Shi +2
Passive acoustic monitoring (PAM) systems generate continuous recordings spanning months, yet automated bioacoustic analysis of whale calls requires two separate annotation efforts…
Distance Based Single-Channel Target Speech Extraction
Runwu Shi, Benjamin Yen, Kazuhiro Nakadai
This paper aims to achieve single-channel target speech extraction (TSE) in enclosures by solely utilizing distance information. This is the first work that utilizes only distance…
UAV-Enhanced Combination to Application: Comprehensive Analysis and Benchmarking of a Human Detection Dataset for Disaster Scenarios
Ragib Amin Nihal, Benjamin Yen, Katsutoshi Itoyama +1
Unmanned aerial vehicles (UAVs) have revolutionized search and rescue (SAR) operations, but the lack of specialized human detection datasets for training machine learning models po…
From Blurry to Brilliant Detection: YOLO-Based Aerial Object Detection with Super Resolution
Ragib Amin Nihal, Benjamin Yen, Takeshi Ashizawa +2
Aerial object detection presents challenges from small object sizes, high density clustering, and image quality degradation from distance and motion blur. These factors create an i…