6 papers
Continuous-Time Motion Planning and Steering with Global Convergence
Mohsen Amiri, Sima Didari, Davoud Ataee Tarzanagh +2
Motion planning is central to robotics, and it is increasingly used to correct the motions proposed by learned planners and policies. In both uses, constraints must hold at every i…
ReVeal: A Reconstruction-Aware Real-to-Sim Framework for VLA Policy Evaluation
Xinyi Wang, Heng Hao, Wenjun Hu +5
Simulation-based evaluation provides a scalable and repeatable alternative to real-world evaluation of vision-language-action (VLA) policies. However, reconstruction errors can cau…
Query-Aware Flow Diffusion for Graph-Based RAG with Retrieval Guarantees
Zhuoping Zhou, Davoud Ataee Tarzanagh, Sima Didari +7
Graph-based Retrieval-Augmented Generation (RAG) systems leverage interconnected knowledge structures to capture complex relationships that flat retrieval struggles with, enabling…
PaVeRL-SQL: Text-to-SQL via Partial-Match Rewards and Verbal Reinforcement Learning
Heng Hao, Wenjun Hu, Oxana Verkholyak +6
Text-to-SQL models allow users to interact with a database more easily by generating executable SQL statements from natural-language questions. Despite recent successes on simpler…
Bayesian Active Learning for Semantic Segmentation
Sima Didari, Wenjun Hu, Jae Oh Woo +3
Fully supervised training of semantic segmentation models is costly and challenging because each pixel within an image needs to be labeled. Therefore, the sparse pixel-level annota…
Improving Instruction Following in Language Models through Proxy-Based Uncertainty Estimation
JoonHo Lee, Jae Oh Woo, Juree Seok +11
Assessing response quality to instructions in language models is vital but challenging due to the complexity of human language across different contexts. This complexity often resu…