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版本更新 · v2arXiv:2605.06407

WavCube: Unifying Speech Representation for Understanding and Generation via Semantic-Acoustic Joint Modeling

Guanrou Yang, Tian Tan, Qian Chen, Zhikang Niu, Yakun Song, Ziyang Ma, Yushen Chen, Zeyu Xie 等 15 位作者

原文摘要

Integrating speech understanding and generation is a pivotal step toward building unified speech models. However, the different representations required for these two tasks currently pose significant compatibility challenges. Typically, semantics-oriented features are learned from self-supervised learning (SSL), and acoustic-oriented features from reconstruction. Such fragmented representations hinder the realization of truly unified speech systems. We present WavCube, a compact continuous latent derived from an SSL speech encoder that simultaneously supports speech understanding, reconstruction, and generation. WavCube employs a two-stage training scheme. Stage 1 trains a semantic bottleneck to filter off-manifold redundancy that makes raw SSL features intractable for diffusion. Stage 2 injects fine-grained acoustic details via end-to-end reconstruction, while a semantic anchoring loss ensures the representation remains grounded within its original semantic manifold. Comprehensive experiments show that WavCube closely approaches WavLM performance on SUPERB despite an 8x dimensional compression, attains reconstruction quality on par with existing acoustic representations, delivers state-of-the-art zero-shot TTS performance with markedly faster training convergence, and excels in speech enhancement, separation, and voice conversion tasks on the SUPERB-SG benchmark. Systematic ablations reveal that WavCube's two-stage recipe resolves two intrinsic flaws of SSL features for generative modeling, paving the way for future unified speech systems. Codes and checkpoints are available at https://github.com/yanghaha0908/WavCube.

eess.AS · cs.AI · cs.CL

新论文 · v1arXiv:2611.10510

ReSkill: Selective Self-Improvement for Robot Manipulation

Zheng Sun, Zhihao Li, Zhuo Li, Wenrui Liu, Xin Wang, Fei Chen

原文摘要

Self-improvement on compositional manipulation tasks requires deciding what to reuse, where to improve, and which changes to retain. We present ReSkill, a selective self-improvement framework that concentrates revision on capability gaps. A coding agent constructs an object-centric task graph from an instruction and a skill library, then uses node-level execution records to locate failures. At the task level, it revises stage organization, hand-off conditions, and recovery routes; at the skill level, it strengthens perception, motion, manipulation, and verification capabilities that repeatedly fail. Candidate revisions undergo full-task evaluation and paired comparisons before adoption, allowing local changes to accumulate into validated skills and an independently executable policy. The agent participates only during development; the deployed policy calls the retained skills without invoking the agent at run time. On the same development set, average success across ten RoboDojo tasks rises from 30.0% for the initial versions to 86.2% for the final adopted programs; retained programs achieve 83.6% in recorded robustness and model-selection evaluations. Across eight real-world tasks, ReSkill succeeds in 72 of 80 rebuilt-simulation trials and 62 of 80 real-robot trials (77.5%). The median revision changes only three functions, approximately 0.5% of a program, while 39% of task-specific functions in later-added tasks directly reuse existing implementations. These results show how locating local deficiencies, validating candidate changes, and accumulating reusable skills can improve execution of compositional manipulation tasks.

cs.RO