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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…