pwc-archive/papers-with-abstracts huggingface dataset:
OmniIndoor3D: Comprehensive Indoor 3D Reconstruction
Authors: Xiaobao Wei, Xiaoan Zhang, Hao Wang, Qingpo Wuwu, Ming Lu, Wenzhao Zheng, Shanghang Zhang
Date: 2025-05-27 00:00:00
Tasks: 3DGS, 3D Reconstruction, Scene Understanding

We propose a novel framework for comprehensive indoor 3D reconstruction using Gaussian representations, called OmniIndoor3D. This framework enables accurate appearance, geometry, and panoptic reconstruction of diverse indoor scenes captured by a consumer-level RGB-D camera. Since 3DGS is primarily optimized for photorealistic rendering, it lacks the precise geometry critical for high-quality panoptic reconstruction. Therefore, OmniIndoor3D first combines multiple RGB-D images to create a coarse 3D reconstruction, which is then used to initialize the 3D Gaussians and guide the 3DGS training. To decouple the optimization conflict between appearance and geometry, we introduce a lightweight MLP that adjusts the geometric properties of 3D Gaussians. The introduced lightweight MLP serves as a low-pass filter for geometry reconstruction and significantly reduces noise in indoor scenes. To improve the distribution of Gaussian primitives, we propose a densification strategy guided by panoptic priors to encourage smoothness on planar surfaces. Through the joint optimization of appearance, geometry, and panoptic reconstruction, OmniIndoor3D provides comprehensive 3D indoor scene understanding, which facilitates accurate and robust robotic navigation. We perform thorough evaluations across multiple datasets, and OmniIndoor3D achieves state-of-the-art results in appearance, geometry, and panoptic reconstruction. We believe our work bridges a critical gap in indoor 3D reconstruction. The code will be released at: https://ucwxb.github.io/OmniIndoor3D/
Collision- and Reachability-Aware Multi-Robot Control with Grounded LLM Planners
Authors: Jiabao Ji, Yongchao Chen, Yang Zhang, Ramana Rao Kompella, Chuchu Fan, Gaowen Liu, Shiyu Chang
Date: 2025-05-26 00:00:00
Tasks: MuJoCo, valid

Large language models (LLMs) have demonstrated strong performance in various robot control tasks. However, their deployment in real-world applications remains constrained. Even state-ofthe-art LLMs, such as GPT-o4mini, frequently produce invalid action plans that violate physical constraints, such as directing a robot to an unreachable location or causing collisions between robots. This issue primarily arises from a lack of awareness of these physical constraints during the reasoning process. To address this issue, we propose a novel framework that integrates reinforcement learning with verifiable rewards (RLVR) to incentivize knowledge of physical constraints into LLMs to induce constraints-aware reasoning during plan generation. In this approach, only valid action plans that successfully complete a control task receive positive rewards. We applied our method to two small-scale LLMs: a non-reasoning Qwen2.5-3B-Instruct and a reasoning Qwen3-4B. The experiment results demonstrate that constraint-aware small LLMs largely outperform large-scale models without constraints, grounded on both the BoxNet task and a newly developed BoxNet3D environment built using MuJoCo. This work highlights the effectiveness of grounding even small LLMs with physical constraints to enable scalable and efficient multi-robot control in complex, physically constrained environments.
Embodied AI with Foundation Models for Mobile Service Robots: A Systematic Review
Authors: Matthew Lisondra, Beno Benhabib, Goldie Nejat
Date: 2025-05-26 00:00:00
Tasks: Decision Making Under Uncertainty, Sensor Fusion, Vision-Language-Action

Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models have opened new avenues for embodied AI in mobile service robotics. By combining foundation models with the principles of embodied AI, where intelligent systems perceive, reason, and act through physical interactions, robots can improve understanding, adapt to, and execute complex tasks in dynamic real-world environments. However, embodied AI in mobile service robots continues to face key challenges, including multimodal sensor fusion, real-time decision-making under uncertainty, task generalization, and effective human-robot interactions (HRI). In this paper, we present the first systematic review of the integration of foundation models in mobile service robotics, identifying key open challenges in embodied AI and examining how foundation models can address them. Namely, we explore the role of such models in enabling real-time sensor fusion, language-conditioned control, and adaptive task execution. Furthermore, we discuss real-world applications in the domestic assistance, healthcare, and service automation sectors, demonstrating the transformative impact of foundation models on service robotics. We also include potential future research directions, emphasizing the need for predictive scaling laws, autonomous long-term adaptation, and cross-embodiment generalization to enable scalable, efficient, and robust deployment of foundation models in human-centric robotic systems.
Robot Operation of Home Appliances by Reading User Manuals
Authors: Jian Zhang, Hanbo Zhang, Anxing Xiao, David Hsu
Date: 2025-05-26 00:00:00

Operating home appliances, among the most common tools in every household, is a critical capability for assistive home robots. This paper presents ApBot, a robot system that operates novel household appliances by "reading" their user manuals. ApBot faces multiple challenges: (i) infer goal-conditioned partial policies from their unstructured, textual descriptions in a user manual document, (ii) ground the policies to the appliance in the physical world, and (iii) execute the policies reliably over potentially many steps, despite compounding errors. To tackle these challenges, ApBot constructs a structured, symbolic model of an appliance from its manual, with the help of a large vision-language model (VLM). It grounds the symbolic actions visually to control panel elements. Finally, ApBot closes the loop by updating the model based on visual feedback. Our experiments show that across a wide range of simulated and real-world appliances, ApBot achieves consistent and statistically significant improvements in task success rate, compared with state-of-the-art large VLMs used directly as control policies. These results suggest that a structured internal representations plays an important role in robust robot operation of home appliances, especially, complex ones.
Vision-Based Risk Aware Emergency Landing for UAVs in Complex Urban Environments
Authors: Julio de la Torre-Vanegas, Miguel Soriano-Garcia, Israel Becerra, Diego Mercado-Ravell
Date: 2025-05-26 00:00:00
Tasks: Semantic Segmentation

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic segmentation to continuously evaluate potential hazards in the drone's field of view. By using a specialized deep neural network to assign pixel-level risk values and applying an algorithm based on risk maps, our method adaptively identifies a stable Safe Landing Zone (SLZ) despite moving critical obstacles such as vehicles, people, etc., and other visual challenges like shifting illumination. A control system then guides the UAV toward this low-risk region, employing altitude-dependent safety thresholds and temporal landing point stabilization to ensure robust descent trajectories. Experimental validation in diverse urban environments demonstrates the effectiveness of our approach, achieving over 90% landing success rates in very challenging real scenarios, showing significant improvements in various risk metrics. Our findings suggest that risk-oriented vision methods can effectively help reduce the risk of accidents in emergency landing situations, particularly in complex, unstructured, urban scenarios, densely populated with moving risky obstacles, while potentiating the true capabilities of UAVs in complex urban operations.
RetroMotion: Retrocausal Motion Forecasting Models are Instructable
Authors: Royden Wagner, Omer Sahin Tas, Felix Hauser, Marlon Steiner, Dominik Strutz, Abhishek Vivekanandan, Carlos Fernandez, Christoph Stiller
Date: 2025-05-26 00:00:00
Tasks: Motion Forecasting, Multi-Task Learning

Motion forecasts of road users (i.e., agents) vary in complexity as a function of scene constraints and interactive behavior. We address this with a multi-task learning method for motion forecasting that includes a retrocausal flow of information. The corresponding tasks are to forecast (1) marginal trajectory distributions for all modeled agents and (2) joint trajectory distributions for interacting agents. Using a transformer model, we generate the joint distributions by re-encoding marginal distributions followed by pairwise modeling. This incorporates a retrocausal flow of information from later points in marginal trajectories to earlier points in joint trajectories. Per trajectory point, we model positional uncertainty using compressed exponential power distributions. Notably, our method achieves state-of-the-art results in the Waymo Interaction Prediction dataset and generalizes well to the Argoverse 2 dataset. Additionally, our method provides an interface for issuing instructions through trajectory modifications. Our experiments show that regular training of motion forecasting leads to the ability to follow goal-based instructions and to adapt basic directional instructions to the scene context. Code: https://github.com/kit-mrt/future-motion
How Much Do Large Language Models Know about Human Motion? A Case Study in 3D Avatar Control
Authors: Kunhang Li, Jason Naradowsky, Yansong Feng, Yusuke Miyao
Date: 2025-05-23 00:00:00

We explore Large Language Models (LLMs)' human motion knowledge through 3D avatar control. Given a motion instruction, we prompt LLMs to first generate a high-level movement plan with consecutive steps (High-level Planning), then specify body part positions in each step (Low-level Planning), which we linearly interpolate into avatar animations as a clear verification lens for human evaluators. Through carefully designed 20 representative motion instructions with full coverage of basic movement primitives and balanced body part usage, we conduct comprehensive evaluations including human assessment of both generated animations and high-level movement plans, as well as automatic comparison with oracle positions in low-level planning. We find that LLMs are strong at interpreting the high-level body movements but struggle with precise body part positioning. While breaking down motion queries into atomic components improves planning performance, LLMs have difficulty with multi-step movements involving high-degree-of-freedom body parts. Furthermore, LLMs provide reasonable approximation for general spatial descriptions, but fail to handle precise spatial specifications in text, and the precise spatial-temporal parameters needed for avatar control. Notably, LLMs show promise in conceptualizing creative motions and distinguishing culturally-specific motion patterns.
Symbolic Foundation Regressor on Complex Networks
Authors: Weiting Liu, Jiaxu Cui, Jiao Hu, En Wang, Bo Yang
Date: 2025-05-28 00:00:00
Tasks: Epidemiology, regression, Symbolic Regression

In science, we are interested not only in forecasting but also in understanding how predictions are made, specifically what the interpretable underlying model looks like. Data-driven machine learning technology can significantly streamline the complex and time-consuming traditional manual process of discovering scientific laws, helping us gain insights into fundamental issues in modern science. In this work, we introduce a pre-trained symbolic foundation regressor that can effectively compress complex data with numerous interacting variables while producing interpretable physical representations. Our model has been rigorously tested on non-network symbolic regression, symbolic regression on complex networks, and the inference of network dynamics across various domains, including physics, biochemistry, ecology, and epidemiology. The results indicate a remarkable improvement in equation inference efficiency, being three times more effective than baseline approaches while maintaining accurate predictions. Furthermore, we apply our model to uncover more intuitive laws of interaction transmission from global epidemic outbreak data, achieving optimal data fitting. This model extends the application boundary of pre-trained symbolic regression models to complex networks, and we believe it provides a foundational solution for revealing the hidden mechanisms behind changes in complex phenomena, enhancing interpretability, and inspiring further scientific discoveries.
R1-Code-Interpreter: Training LLMs to Reason with Code via Supervised and Reinforcement Learning
Authors: Yongchao Chen, Yueying Liu, Junwei Zhou, Yilun Hao, Jingquan Wang, Yang Zhang, Chuchu Fan
Date: 2025-05-27 00:00:00
Tasks: Code Generation, Reinforcement Learning (RL)

Despite advances in reasoning and planning of R1-like models, Large Language Models (LLMs) still struggle with tasks requiring precise computation, symbolic manipulation, optimization, and algorithmic reasoning, in which textual reasoning lacks the rigor of code execution. A key challenge is enabling LLMs to decide when to use textual reasoning versus code generation. While OpenAI trains models to invoke a Code Interpreter as needed, public research lacks guidance on aligning pre-trained LLMs to effectively leverage code and generalize across diverse tasks. We present R1-Code-Interpreter, an extension of a text-only LLM trained via multi-turn supervised fine-tuning (SFT) and reinforcement learning (RL) to autonomously generate multiple code queries during step-by-step reasoning. We curate 144 reasoning and planning tasks (107 for training, 37 for testing), each with over 200 diverse questions. We fine-tune Qwen-2.5 models (3B/7B/14B) using various SFT and RL strategies, investigating different answer formats, reasoning vs. non-reasoning models, cold vs. warm starts, GRPO vs. PPO, and masked vs. unmasked code outputs. Unlike prior RL work on narrow domains, we find that Code Interpreter training is significantly harder due to high task diversity and expensive code execution, highlighting the critical role of the SFT stage. Our final model, R1-CI-14B, improves average accuracy on the 37 test tasks from 44.0\% to 64.1\%, outperforming GPT-4o (text-only: 58.6\%) and approaching GPT-4o with Code Interpreter (70.9\%), with the emergent self-checking behavior via code generation. Datasets, Codes, and Models are available at https://github.com/yongchao98/R1-Code-Interpreter and https://huggingface.co/yongchao98.
Effective and Efficient One-pass Compression of Speech Foundation Models Using Sparsity-aware Self-pinching Gates
Authors: Haoning Xu, Zhaoqing Li, Youjun Chen, Huimeng Wang, Guinan Li, Mengzhe Geng, Chengxi Deng, Xunying Liu
Date: 2025-05-28 00:00:00
Tasks: Model Compression

This paper presents a novel approach for speech foundation models compression that tightly integrates model pruning and parameter update into a single stage. Highly compact layer-level tied self-pinching gates each containing only a single learnable threshold are jointly trained with uncompressed models and used in fine-grained neuron level pruning. Experiments conducted on the LibriSpeech-100hr corpus suggest that our approach reduces the number of parameters of wav2vec2.0-base and HuBERT-large models by 65% and 60% respectively, while incurring no statistically significant word error rate (WER) increase on the test-clean dataset. Compared to previously published methods on the same task, our approach not only achieves the lowest WER of 7.05% on the test-clean dataset under a comparable model compression ratio of 4.26x, but also operates with at least 25% less model compression time.
Effective Context in Neural Speech Models
Authors: Yen Meng, Sharon Goldwater, Hao Tang
Date: 2025-05-28 00:00:00

Modern neural speech models benefit from having longer context, and many approaches have been proposed to increase the maximum context a model can use. However, few have attempted to measure how much context these models actually use, i.e., the effective context. Here, we propose two approaches to measuring the effective context, and use them to analyze different speech Transformers. For supervised models, we find that the effective context correlates well with the nature of the task, with fundamental frequency tracking, phone classification, and word classification requiring increasing amounts of effective context. For self-supervised models, we find that effective context increases mainly in the early layers, and remains relatively short -- similar to the supervised phone model. Given that these models do not use a long context during prediction, we show that HuBERT can be run in streaming mode without modification to the architecture and without further fine-tuning.
Articulatory modeling of the S-shaped F2 trajectories observed in Öhman's spectrographic analysis of VCV syllables
Authors: Frédéric Berthommier
Date: 2025-05-28 00:00:00
Tasks: Trajectory Planning

The synthesis of Ohman's VCV sequences with intervocalic plosive consonants was first achieved 30 years ago using the DRM model. However, this approach remains primarily acoustic and lacks articulatory constraints. In this study, the same 75 VCVs are analyzed, but generated with the Maeda model, using trajectory planning that differentiates vowel-to-vowel transitions from consonantal influences. Synthetic data exhibit similar characteristics to Ohman's sequences, including the presence of S-shaped F2 trajectories. Furthermore, locus equations (LEs) for F2 and F3 are computed from synthetic CV data to investigate their underlying determinism, leading to a reassessment of conventional interpretations. The findings indicate that, although articulatory planning is structured separately for vowel and consonant groups, S-shaped F2 trajectories emerge from a composite mechanism governed by the coordinated synergy of all articulators.
Advancing Hearing Assessment: An ASR-Based Frequency-Specific Speech Test for Diagnosing Presbycusis
Authors: Stefan Bleeck
Date: 2025-05-28 00:00:00
Tasks: Automatic Speech Recognition, Automatic Speech Recognition (ASR), Diagnostic, speech-recognition, Speech Recognition

Traditional audiometry often fails to fully characterize the functional impact of hearing loss on speech understanding, particularly supra-threshold deficits and frequency-specific perception challenges in conditions like presbycusis. This paper presents the development and simulated evaluation of a novel Automatic Speech Recognition (ASR)-based frequency-specific speech test designed to provide granular diagnostic insights. Our approach leverages ASR to simulate the perceptual effects of moderate sloping hearing loss by processing speech stimuli under controlled acoustic degradation and subsequently analyzing phoneme-level confusion patterns. Key findings indicate that simulated hearing loss introduces specific phoneme confusions, predominantly affecting high-frequency consonants (e.g., alveolar/palatal to labiodental substitutions) and leading to significant phoneme deletions, consistent with the acoustic cues degraded in presbycusis. A test battery curated from these ASR-derived confusions demonstrated diagnostic value, effectively differentiating between simulated normal-hearing and hearing-impaired listeners in a comprehensive simulation. This ASR-driven methodology offers a promising avenue for developing objective, granular, and frequency-specific hearing assessment tools that complement traditional audiometry. Future work will focus on validating these findings with human participants and exploring the integration of advanced AI models for enhanced diagnostic precision.
AudioTurbo: Fast Text-to-Audio Generation with Rectified Diffusion
Authors: Junqi Zhao, Jinzheng Zhao, Haohe Liu, Yun Chen, Lu Han, Xubo Liu, Mark Plumbley, Wenwu Wang
Date: 2025-05-28 00:00:00
Tasks: AudioCaps, Audio Generation, Diversity

Diffusion models have significantly improved the quality and diversity of audio generation but are hindered by slow inference speed. Rectified flow enhances inference speed by learning straight-line ordinary differential equation (ODE) paths. However, this approach requires training a flow-matching model from scratch and tends to perform suboptimally, or even poorly, at low step counts. To address the limitations of rectified flow while leveraging the advantages of advanced pre-trained diffusion models, this study integrates pre-trained models with the rectified diffusion method to improve the efficiency of text-to-audio (TTA) generation. Specifically, we propose AudioTurbo, which learns first-order ODE paths from deterministic noise sample pairs generated by a pre-trained TTA model. Experiments on the AudioCaps dataset demonstrate that our model, with only 10 sampling steps, outperforms prior models and reduces inference to 3 steps compared to a flow-matching-based acceleration model.
Visual Cues Support Robust Turn-taking Prediction in Noise
Authors: Sam O'Connor Russell, Naomi Harte
Date: 2025-05-28 00:00:00

Accurate predictive turn-taking models (PTTMs) are essential for naturalistic human-robot interaction. However, little is known about their performance in noise. This study therefore explores PTTM performance in types of noise likely to be encountered once deployed. Our analyses reveal PTTMs are highly sensitive to noise. Hold/shift accuracy drops from 84% in clean speech to just 52% in 10 dB music noise. Training with noisy data enables a multimodal PTTM, which includes visual features to better exploit visual cues, with 72% accuracy in 10 dB music noise. The multimodal PTTM outperforms the audio-only PTTM across all noise types and SNRs, highlighting its ability to exploit visual cues; however, this does not always generalise to new types of noise. Analysis also reveals that successful training relies on accurate transcription, limiting the use of ASR-derived transcriptions to clean conditions. We make code publicly available for future research.
Voice Adaptation for Swiss German
Authors: Samuel Stucki, Jan Deriu, Mark Cieliebak
Date: 2025-05-28 00:00:00
Tasks: Voice Cloning

This work investigates the performance of Voice Adaptation models for Swiss German dialects, i.e., translating Standard German text to Swiss German dialect speech. For this, we preprocess a large dataset of Swiss podcasts, which we automatically transcribe and annotate with dialect classes, yielding approximately 5000 hours of weakly labeled training material. We fine-tune the XTTSv2 model on this dataset and show that it achieves good scores in human and automated evaluations and can correctly render the desired dialect. Our work shows a step towards adapting Voice Cloning technology to underrepresented languages. The resulting model achieves CMOS scores of up to -0.28 and SMOS scores of 3.8.