7 accepted papers
Neural Speech Codecs face a fundamental trade-off at low bitrates: preserving acoustic fidelity often compromises semantic richness. To address this, we introduce SACodec, a novel codec built upon an asymmetric dual-quantizer that employs our proposed Semantic Anchoring mechanism. This design strate
Enabling robots to perform tool manipulation like humans remains a great challenge. A semantic understanding of tool affordances and precise spatial localization is essential for this task. Conventional methods relying on RGB-D cameras for affordance detection and tool manipulation have been proven
An autonomous bin-picking system for grasping various cluttered packages can significantly benefit logistics by reducing manual labor and streamlining processing. The system's key challenges involve the gripper for confined spaces and grasp planning for unseen objects with varying materials, shapes,
The recent large-scale text-to-speech (TTS) systems are usually grouped as autoregressive and non-autoregressive systems. The autoregressive systems implicitly model duration but exhibit certain deficiencies in robustness and lack of duration controllability. Non-autoregressive systems require expli…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these compliant robots are predominantly iterated through experiments…
Under-actuated robot grippers, as a pervasive tool of robots, have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better address relevant res…
Humans can use different grasping poses and forces for everyday objects of different shapes and sizes. Grasping and manipulating everyday objects have been longstanding challenges in robotics. Performing multiple grasping configurations is difficult for robotic end-effectors with limited degrees of