Computer Science
Robot manipulation critically depends on perception that preserves the action-relevant aspects of a scene. Yet most robot learning pipelines are built upon visual encoders pre-trained for static recognition or vision-language alignment,…
We establish two structural majorization relations, which we call precursors, underlying the properties of supermodularity and subadditivity on the lattice induced by majorization. These are precursors in that they immediately imply that…
The ability to reason, adapt, and creatively solve problems under unexpected challenges is essential for robots operating in real-world environments. However, current robotic benchmarks primarily emphasize skill-level execution and provide…
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…
Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…
Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In…
Semi-structured knowledge bases (SKBs) embed textual documents in a typed graph of entities and relations, and underpin applications such as product search, academic paper search, and precision-medicine inquiries. Existing hybrid retrieval…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for grounding visual-language understanding into real-world robotic manipulation. However, dexterous manipulation remains challenging for VLA policies due to…
Legal article retrieval is critical for building traceable and reliable legal AI systems, where conclusions must be grounded in specific legal articles. However, existing open-domain retrieval methods rely heavily on surface-level lexical…
Multi-vector retrieval (MVR) models, exemplified by ColBERT, have established new benchmarks in retrieval accuracy by preserving fine-grained token-level interactions. However, this granularity imposes prohibitive storage and retrieval…
We prove a list recovery guarantee for random low-rate linear codes over sufficiently large prime fields. For fixed dimension $d$, error fraction $\alpha$, and accuracy parameter $\varepsilon$, a random $d$-dimensional linear code $C…
Recent advances in reinforcement learning (RL) have achieved great successes by leveraging the multimodality and exploration capability of diffusion policies. Among these approaches, one representative branch focuses on the sampling-based…
Superimposed pilot (SIP) transmission improves spectral efficiency by eliminating the dedicated pilot overhead required in orthogonal pilot (OP)-based schemes. However, SIP suffers from severe pilot-data coupling, which leads to a critical…
Robot behavior is often validated through simulation-based testing, yet the replicability of such campaigns depends critically on transparent documentation of how tests are configured, executed, and post-processed. We argue that data…
Retrieval Augmented Generation (RAG) improves the question answering capabilities of Large Language Models (LLMs) by incorporating external knowledge and has recently been extended to multimodal settings through Vision-Language Models…
Integrated sensing, communication, and computation (ISCC) provides a promising framework for indoor human-centric applications. In these applications, short-term human pose prediction facilitates continuous human tracking and resource…
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher…
This paper investigates a multi-user indoor integrated sensing and communication (ISAC) system operating in the terahertz (THz) band, designed for adaptive communication based on gesture recognition. Leveraging gesture tracking through an…
Multi-step robot manipulation requires acting under uncertainty about how the scene will evolve, making exploration and policy adaptation challenging. We study whether short-horizon, task-consistent future videos can provide useful…
In radar sensing, the self-ambiguity function of the probing waveform plays a crucial role in the resolvability and detection of multiple targets. In the recent Zak-OTFS based radar literature, Gaussian pulse shaping filter has been…