arXiv subjects

Ruiqing Yin

Publications and source records attributed to Ruiqing Yin.

6 recordsLinked to original sources

arXiv2026

Is Forward Prediction Enough? Physical State Grounding for JEPA World Models

Learning structured and control-relevant latent representations remains a key challenge for world models. Recent JEPA-based world models learn action-conditioned predictive latent dynamics from observation sequences. However, their forward-prediction objectives do not explicitly enforce reliable identifiability of robot-centric physical state from individual latents or state changes from latent pairs, which can limit downstream planning and policy performance. We propose PSG-JEPA, a physically grounded JEPA world model that shapes its latent space with two complementary grounding objectives beyond forward prediction: grounding individual latents in robot proprioceptive state, and grounding latent pairs in multi-horizon joint-angle changes. Both objectives are applied only during training, leaving the inference architecture and computational cost unchanged. To comprehensively evaluate PSG-JEPA, we conduct experiments at three levels: (1) latent identifiability via probing, (2) goal-conditioned planning on frozen latents, and (3) policy learning in simulation and on a real robot. Experiments demonstrate that our PSG-JEPA consistently outperforms state-of-the-art latent world-model baselines at all three levels.

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arXiv2026

DFM-VLA: Iterative Action Refinement for Robot Manipulation via Discrete Flow Matching

Vision-Language-Action (VLA) models that encode actions using a discrete tokenization scheme have been widely adopted for robotic manipulation, but existing decoding paradigms remain fundamentally limited. Whether actions are decoded sequentially by autoregressive VLAs or in parallel by discrete diffusion VLAs, once a token is generated, it is typically fixed and cannot be revised in subsequent iterations. Consequently, early token errors cannot be effectively corrected later. We propose DFM-VLA, a discrete flow matching VLA that iteratively refines action tokens. DFM-VLA models a token-level probability velocity field that dynamically updates the full action sequence across refinement iterations. We investigate two approaches to constructing the velocity field: an auxiliary velocity-head formulation and an embedding-guided formulation. To further improve prediction accuracy, we introduce a metric-aligned action tokenizer (MAAT) tailored to the coarse-to-fine nature of DFM, together with a two-stage decoding strategy. Extensive experiments on CALVIN, LIBERO, LIBERO-Plus, and real-world manipulation tasks demonstrate the effectiveness of our approach. Our project is available at https://chris1220313648.github.io/DFM-VLA/.

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arXiv2019

The Speed Submission to DIHARD II: Contributions & Lessons Learned

This paper describes the speaker diarization systems developed for the Second DIHARD Speech Diarization Challenge (DIHARD II) by the Speed team. Besides describing the system, which considerably outperformed the challenge baselines, we also focus on the lessons learned from numerous approaches that we tried for single and multi-channel systems. We present several components of our diarization system, including categorization of domains, speech enhancement, speech activity detection, speaker embeddings, clustering methods, resegmentation, and system fusion. We analyze and discuss the effect of each such component on the overall diarization performance within the realistic settings of the challenge.

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arXiv2019

pyannote.audio: neural building blocks for speaker diarization

We introduce pyannote.audio, an open-source toolkit written in Python for speaker diarization. Based on PyTorch machine learning framework, it provides a set of trainable end-to-end neural building blocks that can be combined and jointly optimized to build speaker diarization pipelines. pyannote.audio also comes with pre-trained models covering a wide range of domains for voice activity detection, speaker change detection, overlapped speech detection, and speaker embedding -- reaching state-of-the-art performance for most of them.

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arXiv2019

Cross-Lingual Contextual Word Embeddings Mapping With Multi-Sense Words In Mind

Recent work in cross-lingual contextual word embedding learning cannot handle multi-sense words well. In this work, we explore the characteristics of contextual word embeddings and show the link between contextual word embeddings and word senses. We propose two improving solutions by considering contextual multi-sense word embeddings as noise (removal) and by generating cluster level average anchor embeddings for contextual multi-sense word embeddings (replacement). Experiments show that our solutions can improve the supervised contextual word embeddings alignment for multi-sense words in a microscopic perspective without hurting the macroscopic performance on the bilingual lexicon induction task. For unsupervised alignment, our methods significantly improve the performance on the bilingual lexicon induction task for more than 10 points.

cs.CL↗

arXiv2019

LSTM based Similarity Measurement with Spectral Clustering for Speaker Diarization

More and more neural network approaches have achieved considerable improvement upon submodules of speaker diarization system, including speaker change detection and segment-wise speaker embedding extraction. Still, in the clustering stage, traditional algorithms like probabilistic linear discriminant analysis (PLDA) are widely used for scoring the similarity between two speech segments. In this paper, we propose a supervised method to measure the similarity matrix between all segments of an audio recording with sequential bidirectional long short-term memory networks (Bi-LSTM). Spectral clustering is applied on top of the similarity matrix to further improve the performance. Experimental results show that our system significantly outperforms the state-of-the-art methods and achieves a diarization error rate of 6.63% on the NIST SRE 2000 CALLHOME database.

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