arXiv subjects

Ahad Jawaid

Publications and source records attributed to Ahad Jawaid.

4 recordsLinked to original sources

arXiv2026

Offline RL with Hierarchical Action Chunking

Offline goal-conditioned reinforcement learning (RL) holds the promise of learning general-purpose policies from static datasets. However, scaling these methods to long-horizon tasks remains a challenge due to the curse of horizon, where value estimation errors can compound through long chains of bootstrapped Bellman backups. Existing hierarchical approaches mitigate this by decomposing tasks into subgoals, yet they often rely on low-level controllers that suffer from myopic execution and biased value estimates. In this work, we propose Hierarchical Implicit Q-Chunking (HiQC), an offline goal-conditioned RL algorithm that combines high-level latent planning with low-level action chunking. By conditioning the low-level critic on temporally extended action sequences, HiQC enables unbiased k-step value backups, compressing the horizon at both the planning and execution levels. We theoretically demonstrate that this dual decomposition results in a tighter bound on value error under a bounded per-backup error model compared to standard hierarchy or flat chunking alone. Empirically, HiQC achieves the highest aggregate performance among the compared methods on the OGBench suite, with its largest gains on long-horizon navigation tasks such as humanoid-giant.

cs.LG↗

arXiv2026

NAC: Neural Action Codec for Vision-Language-Action Models

Vision-language-action (VLA) models rely on discrete action tokenizers to bridge continuous robot control and autoregressive sequence modeling, yet existing tokenizers often trade off between compression, latency, and downstream performance. We revisit this design through the lens of neural audio codecs-convolutional encoder-decoder architectures with residual vector quantization that serve as the standard front end for audio foundation models. Motivated by their success, we introduce the Neural Action Codec (NAC), which treats short robot action trajectories as multi-channel 1D signals and compresses them using a multi-scale RVQGAN architecture. We observe that audio-specific mel-spectrogram objectives are ill-suited for kinematic signals; however, by replacing them with simple time-domain and non-mel spectral reconstruction losses, audio-codec-style models can autoencode actions with high fidelity without substantial architectural changes. NAC provides a compact, ordered token space via offset codebooks, enabling standard autoregressive policies to operate over short, structured sequences. Meanwhile, a Vocos-style decoder with an ISTFT head and adversarial discriminators recovers smooth, detailed trajectories. Across LIBERO-10, RoboMimic, and a suite of real-world manipulation tasks, NAC achieves lower reconstruction error and higher success rates than binning, FAST, and prior VQ-based tokenizers at comparable or better compression rates. These results demonstrate that repurposed neural audio codecs offer a strong, practical backbone for learned action tokenization in modern VLAs.

cs.RO↗

arXiv2025

OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation

Egocentric human videos provide scalable demonstrations for imitation learning, but existing corpora often lack either fine-grained, temporally localized action descriptions or dexterous hand annotations. We introduce OpenEgo, a multimodal egocentric manipulation dataset with standardized hand-pose annotations and intention-aligned action primitives. OpenEgo totals 1107 hours across six public datasets, covering 290 manipulation tasks in 600+ environments. We unify hand-pose layouts and provide descriptive, timestamped action primitives. To validate its utility, we train language-conditioned imitation-learning policies to predict dexterous hand trajectories. OpenEgo is designed to lower the barrier to learning dexterous manipulation from egocentric video and to support reproducible research in vision-language-action learning. All resources and instructions will be released at www.openegocentric.com.

cs.CV↗

arXiv2024

Style Mixture of Experts for Expressive Text-To-Speech Synthesis

Recent advances in style transfer text-to-speech (TTS) have improved the expressiveness of synthesized speech. However, encoding stylistic information (e.g., timbre, emotion, and prosody) from diverse and unseen reference speech remains a challenge. This paper introduces StyleMoE, an approach that addresses the issue of learning averaged style representations in the style encoder by creating style experts that learn from subsets of data. The proposed method replaces the style encoder in a TTS framework with a Mixture of Experts (MoE) layer. The style experts specialize by learning from subsets of reference speech routed to them by the gating network, enabling them to handle different aspects of the style space. As a result, StyleMoE improves the style coverage of the style encoder for style transfer TTS. Our experiments, both objective and subjective, demonstrate improved style transfer for diverse and unseen reference speech. The proposed method enhances the performance of existing state-of-the-art style transfer TTS models and represents the first study of style MoE in TTS.

eess.AS↗