4 papers
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
Shuai Wang, Yaxin Feng, Xuekun Jiang +12
Physics engines facilitate large-scale training and evaluation for embodied intelligence, while generative video world models are emerging as implicit simulators of future states a…
Tac2Real: Reliable and GPU Visuotactile Simulation for Online Reinforcement Learning and Zero-Shot Real-World Deployment
Ningyu Yan, Shuai Wang, Xing Shen +4
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcemen…
Enhancing Generalization of Speech Large Language Models with Multi-Task Behavior Imitation and Speech-Text Interleaving
Jingran Xie, Xiang Li, Hui Wang +4
Large language models (LLMs) have shown remarkable generalization across tasks, leading to increased interest in integrating speech with LLMs. These speech LLMs (SLLMs) typically u…
Leveraging Chain of Thought towards Empathetic Spoken Dialogue without Corresponding Question-Answering Data
Jingran Xie, Shun Lei, Yue Yu +4
Empathetic dialogue is crucial for natural human-computer interaction, allowing the dialogue system to respond in a more personalized and emotionally aware manner, improving user s…