5 papers
ESP: Energy-Score Policy for One-Step Multimodal Action Generation
Lilika Makabe, Heecheol Kim, Yasuyuki Matsushita
Generative action models based on diffusion and flow matching have been increasingly adopted in vision-language-action (VLA) policies for their ability to capture diverse behaviors…
DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling
Seongheon Park, Heecheol Kim, Shulin Tian +5
Scaling robot data and model capacity has improved Vision-Language-Action (VLA) policies, but further progress is constrained by the high cost of robotic data. Verifier-guided test…
DP-SfM: Dual-Pixel Structure-from-Motion without Scale Ambiguity
Lilika Makabe, Kohei Ashida, Hiroaki Santo +2
Multi-view 3D reconstruction, namely, structure-from-motion followed by multi-view stereo, is a fundamental component of 3D computer vision. In general, multi-view 3D reconstructio…
Near-light Photometric Stereo with Symmetric Lights
Lilika Makabe, Heng Guo, Hiroaki Santo +2
This paper describes a linear solution method for near-light photometric stereo by exploiting symmetric light source arrangements. Unlike conventional non-convex optimization appro…
Spectral Sensitivity Estimation with an Uncalibrated Diffraction Grating
Lilika Makabe, Hiroaki Santo, Fumio Okura +2
This paper introduces a practical and accurate calibration method for camera spectral sensitivity using a diffraction grating. Accurate calibration of camera spectral sensitivity i…