7 accepted papers
Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete observations of the underlying geometry. Such sparsity and non-unifor…
Generative modeling of neural network parameters is often tied to architectures because standard parameter representations rely on known weight-matrix dimensions. Generation is further complicated by permutation symmetries that allow networks to model similar input-output functions while having wide…
Recent work reports gains in neural text-to-speech (TTS) with Group Relative Policy Optimization (GRPO). However, in the absence of a verifiable reward for \textit{prosody}, GRPO trained on transcription-oriented signals (CER/NLL) lowers error rates yet collapses prosody into monotone, unnatural spe…
Achieving successful scan matching is essential for LiDAR odometry. However, in challenging environments with adverse weather conditions or repetitive geometric patterns, LiDAR odometry performance is degraded due to incorrect scan matching. Recently, the emergence of frequency-modulated continuous…
Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper we present Diffusion-EDFs a novel SE(3)-equivariant diffusion-based approach for visual robotic manipulation tasks. We show that our proposed meth…
The math word problem (MWP) is a complex task that requires natural language understanding and logical reasoning to extract key knowledge from natural language narratives. Previous studies have provided various MWP datasets but lack diversity in problem types, lexical usage patterns, languages, and…
When a person solves the multi-choice problem, she considers not only what is the answer but also what is not the answer. Knowing what choice is not the answer and utilizing the relationships between choices, she can improve the prediction accuracy. Inspired by this human reasoning process, we propo…