4 papers
ATHENA: Accelerated Multi-Task Heterogeneous Influence Functions for Robot Data Curation
Tao Xu, Jiaxin Wang, Runhao Zhang +7
In robot imitation learning, influence functions provide a principled approach to quantify each demonstration's effect on robot task outcomes, yet scaling them to billion-parameter…
L1 Sample Flow for Efficient Visuomotor Learning
Weixi Song, Zhetao Chen, Tao Xu +6
Denoising-based models, such as diffusion and flow matching, have been a critical component of robotic manipulation for their strong distribution-fitting and scaling capacity. Conc…
MRSAudio: A Large-Scale Multimodal Recorded Spatial Audio Dataset with Refined Annotations
Wenxiang Guo, Changhao Pan, Zhiyuan Zhu +16
Humans rely on multisensory integration to perceive spatial environments, where auditory cues enable sound source localization in three-dimensional space. Despite the critical role…
STARS: A Unified Framework for Singing Transcription, Alignment, and Refined Style Annotation
Wenxiang Guo, Yu Zhang, Changhao Pan +6
Recent breakthroughs in singing voice synthesis (SVS) have heightened the demand for high-quality annotated datasets, yet manual annotation remains prohibitively labor-intensive an…