Visual Prompt Guided Unified Pushing Policy

As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely on multi-step push plans composed of pre-defined pushing primitives with limited application scopes, which restrict their efficiency and versatility across different scenarios. In this work, we propose a unified pushing policy that incorporates a lightweight prompting mechanism into a flow matching policy to guide the generation of reactive, multimodal pushing actions. The visual prompt can be specified by a high-level planner, enabling the reuse of the pushing policy across a wide range of planning problems. Experimental results demonstrate that the proposed unified pushing policy not only outperforms existing baselines but also effectively serves as a low-level primitive within a VLM-guided planning framework to solve table-cleaning tasks efficiently.

LLMs-Integrated Automatic Hate Speech Recognition Using Controllable Text Generation Models

This paper proposes an automatic speech recognition (ASR) model for hate speech using large language models (LLMs). The proposed method integrates the encoder of the ASR model with the decoder of the LLMs, enabling simultaneous transcription and censorship tasks to prevent the exposure of harmful content. Instruction tuning of the LLM to mask hate-related words with specific tokens requires an annotated hate speech dataset, which is limited. We generate text samples using an LLM with the Chain-of-Thought (CoT) prompting technique guided by cultural context and examples and then convert them into speech samples using a text-to-speech (TTS) system. However, some of them contain non-hate speech samples with hate-related words, which degrades the censorship performance. This paper filters the samples which text classification models correctly label as hate content. By adjusting the threshold for the number of correct answer models, we can control the level of hate in the generated dataset, allowing us to train the LLMs through curriculum learning in a gradual manner. Experimental results show that the proposed method achieves a masking accuracy of 58.6\% for hate-related words, surpassing previous baselines. We also confirm that the curriculum training contributes to the efficiency of both transcription and censorship tasks.