1 citations · 1 across the 10 of their papers we have counts for
11 papers
Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies
Yue Yang, Diego Romeres, Chiori Hori +3
Vision-Language-Action (VLA) policies fuse multimodal sensory inputs, but training on limited and homogeneous robot demonstrations encourages spurious inter-sensor correlations rat…
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel +4
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanu…
Velocity Potential Neural Field for Efficient Ambisonics Impulse Response Modeling
Yoshiki Masuyama, Francois G. Germain, Gordon Wichern +2
First-order Ambisonics (FOA) is a standard spatial audio format based on spherical harmonic decomposition. Its zeroth- and first-order components capture the sound pressure and par…
Embedding Morphology into Transformers for Cross-Robot Policy Learning
Kei Suzuki, Jing Liu, Ye Wang +4
Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, su…
Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM
Chiori Hori, Yoshiki Masuyama, Siddarth Jain +4
Human-robot collaboration towards a shared goal requires robots to understand human action and interaction with the surrounding environment. This paper focuses on human-robot inter…
SpinBench: Perspective and Rotation as a Lens on Spatial Reasoning in VLMs
Yuyou Zhang, Radu Corcodel, Chiori Hori +2
We present SpinBench, a cognitively grounded diagnostic benchmark for evaluating spatial reasoning in vision language models (VLMs). SpinBench is designed around the core challenge…
Factorized RVQ-GAN For Disentangled Speech Tokenization
Sameer Khurana, Dominik Klement, Antoine Laurent +13
We propose Hierarchical Audio Codec (HAC), a unified neural speech codec that factorizes its bottleneck into three linguistic levels-acoustic, phonetic, and lexical-within a single…
NIIRF: Neural IIR Filter Field for HRTF Upsampling and Personalization
Yoshiki Masuyama, Gordon Wichern, François G. Germain +4
Head-related transfer functions (HRTFs) are important for immersive audio, and their spatial interpolation has been studied to upsample finite measurements. Recently, neural fields…
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks
Lingfeng Sun, Devesh K. Jha, Chiori Hori +5
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive result…
Scenario-Aware Audio-Visual TF-GridNet for Target Speech Extraction
Zexu Pan, Gordon Wichern, Yoshiki Masuyama +4
Target speech extraction aims to extract, based on a given conditioning cue, a target speech signal that is corrupted by interfering sources, such as noise or competing speakers. B…
Generation or Replication: Auscultating Audio Latent Diffusion Models
Dimitrios Bralios, Gordon Wichern, François G. Germain +4
The introduction of audio latent diffusion models possessing the ability to generate realistic sound clips on demand from a text description has the potential to revolutionize how…