UniArray: Unified Spectral-Spatial Modeling for Array-Geometry-Agnostic Speech Separation

Array-geometry-agnostic speech separation (AGA-SS) aims to develop an effective separation method regardless of the microphone array geometry. Conventional methods rely on permutation-free operations, such as summation or attention mechanisms, to capture spatial information. However, these approaches often incur high computational costs or disrupt the effective use of spatial information during intra- and inter-channel interactions, leading to suboptimal performance. To address these issues, we propose UniArray, a novel approach that abandons the conventional interleaving manner. UniArray consists of three key components: a virtual microphone estimation (VME) module, a feature extraction and fusion module, and a hierarchical dual-path separator. The VME ensures robust performance across arrays with varying channel numbers. The feature extraction and fusion module leverages a spectral feature extraction module and a spatial dictionary learning (SDL) module to extract and fuse frequency-bin-level features, allowing the separator to focus on using the fused features. The hierarchical dual-path separator models feature dependencies along the time and frequency axes while maintaining computational efficiency. Experimental results show that UniArray outperforms state-of-the-art methods in SI-SDRi, WB-PESQ, NB-PESQ, and STOI across both seen and unseen array geometries.

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while approaching it for grasping. In this work, we propose a graspability-aware mobile manipulation approach powered by an online grasping pose fusion framework that enables a temporally consistent grasping observation. Specifically, the predicted grasping poses are online organized to eliminate the redundant, outlier grasping poses, which can be encoded as a grasping pose observation state for reinforcement learning. Moreover, on-the-fly fusing the grasping poses enables a direct assessment of graspability, encompassing both the quantity and quality of grasping poses.