4 papers
SMaRT-Tug: Structured Multi-Agent Reinforcement Learning for Physics-Based Tugboat-Barge Collaborative Manipulation
Junkai Lu, Jiadong Zhao, Jiacheng Zhang +8
Autonomous tugboating is central for automating maritime operations such as port logistics and vessel maneuvering, where multiple tugboats must cooperatively transport/manipulate a…
CoFi-Lite: Pushing the Limits of Ultra-Lightweight Speech Enhancement
Leyan Yang, Dahan Wang, Xiaobin Rong +2
Ultra-lightweight models are essential for the deployment of deep learning-based speech enhancement algorithms on edge devices. Although recent approaches have achieved a certain b…
HALO: Half-Frame-Rate Adaptive Learnable Operator for Lightweight STFT-Based Speech Enhancement
Jiadong Zhao, Dahan Wang, Yu Sun +5
STFT-based speech enhancement typically adopts overlapping analysis frames. While overlap is essential for stable STFT processing, it makes adjacent frames highly correlated, causi…
FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
Chengyang He, Ge Sun, Yue Bai +3
We present FoundAtion-model-guided decoupled LoCO-maNipulation visuomotor policies (FALCON), a framework for loco-manipulation that combines modular diffusion policies with a visio…