Author

Benjamin Yen

2 papers indexed here

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Review Sep 2026

AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid

A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is not uniquely determined. On a Unitree R1 in fixed double support, the set of dynamically valid recruitment strategies (pelvis pose and waist t...

Han-Long Li, Si-Han Tan, Takeshi Ashizawa et al. · 0 citations

Preprint Sep 2026

UNITE-AUDIO: Joint Learning of Continuous Tokenization and Latent Flow Matching for Text-to-Audio Generation

Text-to-audio (TTA) generation aims to synthesize realistic audio that faithfully reflects natural-language descriptions. Most TTA systems adopt a two-stage latent paradigm: an audio tokenizer is optimized for reconstruction and then frozen, after which a generative model is trained in the resulting latent space. Howev...

Run-Wu Shi, Kai Li, Yu-Jin Wang et al. · 0 citations