Ye Wang

2papers

2 Papers

9.2SDAug 1
AnyBand: Unified Multi-Bandwidth Speech Extension via Frequency-Aware In-Context Spectral Infilling

Junchuan Zhao, Minh Duc Vu, Bowen Zhang et al.

Bandwidth extension (BWE) aims to recover missing high-frequency content from band-limited speech. Existing methods often formulate BWE as a fixed or predefined bandwidth conversion problem, potentially requiring cutoff-specific models or retraining when the input bandwidth changes. This assumption limits their applicability to practical scenarios where speech may arrive with diverse cutoff frequencies. We propose AnyBand, a unified BWE framework that recasts bandwidth extension as in-context spectral infilling. Motivated by prompt-based zero-shot speech generation, AnyBand conditions high-frequency generation on the observed low-frequency spectrum, using the available band as a frequency-domain prompt that conveys content, speaker, prosodic, and spectral-envelope cues. This formulation enables a single model to perform cutoff-conditioned generation over a continuous range of input bandwidths. AnyBand is trained with missing-band conditional flow matching and an Easy-to-Balanced cutoff curriculum over continuously sampled cutoff frequencies. To better exploit the spectral prompt, we introduce a frequency-aware Diffusion Transformer that models cross-frequency interactions and long-range temporal dependencies, followed by a physically motivated multi-view adversarial refinement stage to enhance spectral realism, envelope coherence, and harmonic consistency. Experiments on multiple datasets and bandwidth settings show that AnyBand consistently improves spectral reconstruction over existing baselines while achieving competitive perceptual quality across both standard and irregular input cutoffs. Audio samples are available.

20.6ROAug 3
Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data

Ye Wang, Pei Lin, Xiong-Hui Chen et al.

Learning generalizable robot manipulation policies requires large-scale and diverse demonstration data. Egocentric human manipulation videos offer rich scene and task diversity, and prior work has shown that retargeting and rendering such videos into robot-format data can yield effective per-task policies at small scale. However, whether this approach can provide pretraining benefits for vision-language-action models at scale remains unexplored. We present \textbf{Ego2Robot}, a scalable pipeline that converts egocentric human manipulation videos into robot training data through action retargeting, robot-arm visual synthesis, and multi-level quality curation. Ego2Robot supports both curated datasets and in-the-wild videos, producing 18,561 hours of robot training data spanning 15 robot morphologies, making it the largest ego-to-robot dataset to date. To evaluate generalization, we extend RoboTwin2.0 with disentangled perturbation axes covering visual appearance, scene layout, embodiment morphology, and task semantics. Experiments show that joint pretraining on Ego2Robot-synthesized and robot data consistently improves out-of-distribution generalization across multiple perturbation types, with benefits validated on real-robot deployment. Project page: https://www-ye.github.io/ego2robot_blog/