7 accepted papers
Large language models leverage internet-scale text data, yet embodied AI remains constrained by the prohibitive costs of physical trajectory collection. Desktop environments---particularly gaming---offer a compelling alternative: they provide rich sensorimotor interactions at scale while maintaining…
Real-life robot navigation involves more than just reaching a destination; it requires optimizing movements while addressing scenario-specific goals. An intuitive way for humans to express these goals is through abstract cues like verbal commands or rough sketches. Such human guidance may lack detai
We propose Evidential-TTS, a novel zero-shot text-to-speech (TTS) system based on evidential deep learning (EDL). The model includes a length regulator to ensure precise alignment between phonemes and acoustic tokens. This module allows the evidential token generator to convert the aligned phoneme s…
"Hallucinations in vision-language models pose a significant challenge to their reliability, particularly in the generation of long captions. Current methods fall short of accurately identifying and mitigating these hallucinations. To address this issue, we introduce ESREAL, a novel unsupervised rei…
We introduce EM-Network, a novel self-distillation approach that effectively leverages target information for supervised sequence-to-sequence (seq2seq) learning. In contrast to conventional methods, it is trained with oracle guidance, which is derived from the target sequence. Since the oracle guida…
Deep speaker embedding systems are usually trained with classification-based or end-to-end learning objectives. Popular end-to-end approaches utilize deep metric learning, which can be viewed as a few-shot classification objective. In this paper, we investigate the limit of conventional learning obj…
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate an object to a target location. Our method is based on deep reinforcement learning which, unlike state-of-the-art plannin…