RF-VoID is proposed, which decides directly on the narrowband complex response: the sub-band is kept in its measured frequency order with amplitude and phase alongside the in-phase and quadrature channels, and a dual-branch encoder reads it along the physical frequency axis using relative position encoding and a distan...
Xin-Yang-Chen-Xin-Yang Chen, Rui-Qin Ma, Shunsuke Shoda et al.· 0 citations
General-purpose reward models are increasingly the bottleneck for scaling robot learning, yet the recipe for learning value-related capabilities from large-scale heterogeneous corpora remains underexplored. Existing approaches tie supervision to task-internal anchors such as preferences or normalized progress, none of...
Dongchi Huang, Hong-Yin Zhang, Bo-Han Hou et al.· 7 citations
This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelit...
Yifan Ye, Yankai Fu, Ya-hui Lv et al.· arXiv.org· 4 citations
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