When does distribution alignment help a frozen foundation-model embedding generalize across acoustic domains? For cross-domain mosquito-species classification we report a strength-monotonic law: the stronger an encoder is on the target task, the more its unseen-domain generalization relies on a distribution-alignment ( …
Mobile bimanual dexterous manipulation requires continuous coordination of locomotion, whole-body motion, and finger-level dexterity within a single trajectory, creating a severe robot demonstration bottleneck. Egocentric human demonstrations offer a scalable alternative, but prior approaches ease the transfer by simpl …
We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides. Inside a moving elevator, the two sensors are in conflict. The camera sees only the robot's motion relative to the elevator, while the IMU senses that motion plus the elevator's motion r …