4 papers
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang +6
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material…
Lookahead Anchoring: Preserving Character Identity in Audio-Driven Human Animation
Junyoung Seo, Rodrigo Mira, Alexandros Haliassos +6
Audio-driven human animation models often suffer from identity drift during temporal autoregressive generation, where characters gradually lose their identity over time. One soluti…
Expert Merging in Sparse Mixture of Experts with Nash Bargaining
Dung V. Nguyen, Anh T. Nguyen, Minh H. Nguyen +6
Existing expert merging strategies for Sparse Mixture of Experts (SMoE) typically rely on input-dependent or input-independent averaging of expert parameters, but often lack a prin…
CAMEx: Curvature-aware Merging of Experts
Dung V. Nguyen, Minh H. Nguyen, Luc Q. Nguyen +3
Existing methods for merging experts during model training and fine-tuning predominantly rely on Euclidean geometry, which assumes a flat parameter space. This assumption can limit…