6 citations · 8 across the 16 of their papers we have counts for
10 papers · 1 filter
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…