Heng Su

Beichen Shao, Mengying Xie, Heng Su et al.

Articulated object manipulation is a unique challenge for service robots. Existing methods employ end-to-end policy learning, visionmotion planning, and large-language/visual-language model (LLM/VLM), but often overlook the diversity of articulated objects and the complexity of interactions between end-effector and handle, leading to limited generalization and destructive collisions. To address this, we propose GSAM, a generalizable and safe robotic framework for articulated object manipulation. Specifically, a vision-based perceiver generates the kinematic parameters. Considering that pre-trained markers in perceiver yield raw estimations that may deviate from commonsense, we present a f ine-tuned VLM-based refiner, using chain-of-thought (COT) commonsense reasoning to refine perception. To prevent destructive collisions, we design an interaction constraint function generator, integrating articulated object, interaction pose, and obstacle avoidance knowledge into a base. LLM then functionalize these constraints and apply them to trajectory and posture planning. A kinematic-aware manipulation planner verifies reachability for trajectory and posture. Experiments on 50 hinge tasks across 5 object categories and 50 randomly initialized end-effectorhandle configurations show that GSAM reduces standard deviation by 3.1% and improves manipulation success rate by 36.0% compared to the best baseline, respectively demonstrating the superior object generalization and interaction safety of GSAM in practical scenarios.

Christopher Li, Gary Wang, Kyle Kastner et al.

Automatic speech recognition (ASR) systems can suffer from poor recall for various reasons, such as noisy audio, lack of sufficient training data, etc. Previous work has shown that recall can be improved by retrieving rewrite candidates from a large database of likely, contextually-relevant alternatives to the hypothesis text using nearest-neighbors search over embeddings of the ASR hypothesis text to correct and candidate corrections. However, ASR-hypothesis-based retrieval can yield poor precision if the textual hypotheses are too phonetically dissimilar to the transcript truth. In this paper, we eliminate the hypothesis-audio mismatch problem by querying the correction database directly using embeddings derived from the utterance audio; the embeddings of the utterance audio and candidate corrections are produced by multimodal speech-text embedding networks trained to place the embedding of the audio of an utterance and the embedding of its corresponding textual transcript close together. After locating an appropriate correction candidate using nearest-neighbor search, we score the candidate with its speech-text embedding distance before adding the candidate to the original n-best list. We show a relative word error rate (WER) reduction of 6% on utterances whose transcripts appear in the candidate set, without increasing WER on general utterances.

Ling Lin, Yang Bai, Heng Su et al.

Existing Visual-Language Models (VLMs) have achieved significant progress by being trained on massive-scale datasets, typically under the assumption that data are independent and identically distributed (IID). However, in real-world scenarios, it is often impractical to expect that all data processed by an AI system satisfy this assumption. Furthermore, failure to appropriately handle out-of-distribution (OOD) objects may introduce safety risks in real-world applications (e.g., autonomous driving or medical assistance). Unfortunately, current research has not yet provided valid benchmarks that can comprehensively assess the performance of VLMs in response to OOD data. Therefore, we propose OODBench, a predominantly automated method with minimal human verification, for constructing new benchmarks and evaluating the ability of VLMs to process OOD data. OODBench contains 40K instance-level OOD instance-category pairs, and we show that current VLMs still exhibit notable performance degradation on OODBench, even when the underlying image categories are common. In addition, we propose a reliable automated assessment metric that employs a Basic-to-Advanced Progression of prompted questions to assess the impact of OOD data on questions of varying difficulty more fully. Lastly, we summarize substantial findings and insights to facilitate future research in the acquisition and evaluation of OOD data.