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Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-time bimanual dexterous teleoperation system that leverages a VR headset. Unlike previous vision-based teleoperation systems, we design novel low-cost devices to provide haptic feedback to the operator, enhancing immersion. Our system prioritizes safety by incorporating collision and singularity avoidance while maintaining real-time performance through innovative designs. Bunny-VisionPro outperforms prior systems on a standard task suite, achieving higher success rates and reduced task completion times. Moreover, the high-quality teleoperation demonstrations improve downstream imitation learning performance, leading to better generalizability. Notably, Bunny-VisionPro enables imitation learning with challenging multi-stage, long-horizon dexterous manipulation tasks, which have rarely been addressed in previous work. Our system's ability to handle bimanual manipulations while prioritizing safety and real-time performance makes it a powerful tool for advancing dexterous manipulation and imitation learning., Comment: project page: https://dingry.github.io/projects/bunny_visionpro.html

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleoperation system Open-TeleVision that allows operators to actively perceive the robot's surroundings in a stereoscopic manner. Additionally, the system mirrors the operator's arm and hand movements on the robot, creating an immersive experience as if the operator's mind is transmitted to a robot embodiment. We validate the effectiveness of our system by collecting data and training imitation learning policies on four long-horizon, precise tasks (Can Sorting, Can Insertion, Folding, and Unloading) for 2 different humanoid robots and deploy them in the real world. The system is open-sourced at: https://robot-tv.github.io/, Comment: Website: https://robot-tv.github.io/

Recent advances in generative models that iteratively synthesize audio clips sparked great success to text-to-audio synthesis (TTA), but with the cost of slow synthesis speed and heavy computation. Although there have been attempts to accelerate the iterative procedure, high-quality TTA systems remain inefficient due to hundreds of iterations required in the inference phase and large amount of model parameters. To address the challenges, we propose SpecMaskGIT, a light-weighted, efficient yet effective TTA model based on the masked generative modeling of spectrograms. First, SpecMaskGIT synthesizes a realistic 10s audio clip by less than 16 iterations, an order-of-magnitude less than previous iterative TTA methods. As a discrete model, SpecMaskGIT outperforms larger VQ-Diffusion and auto-regressive models in the TTA benchmark, while being real-time with only 4 CPU cores or even 30x faster with a GPU. Next, built upon a latent space of Mel-spectrogram, SpecMaskGIT has a wider range of applications (e.g., the zero-shot bandwidth extension) than similar methods built on the latent wave domain. Moreover, we interpret SpecMaskGIT as a generative extension to previous discriminative audio masked Transformers, and shed light on its audio representation learning potential. We hope our work inspires the exploration of masked audio modeling toward further diverse scenarios., Comment: 6 pages, 8 figures, 8 tables. Audio samples: https://zzaudio.github.io/SpecMaskGIT/index.html

We present a comprehensive investigation of optical properties in MoSe$_2$/CrSBr heterostructures, unveiling the presence of localized excitons represented by a new emission feature, X$^*$. We demonstrate through temperature- and power-dependent photoluminescence spectroscopy that X$^*$ originates from excitons confined by intrinsic defects within the CrSBr layer. The valley polarization of X$^*$ and trion peaks displays opposite polarity under a magnetic field, which closely correlates with the magnetic order of CrSBr. This is attributed to spin-dependent charge transfer mechanisms across the heterointerface, supported by density functional theory calculations revealing a type-II band alignment and spin-polarized band structures. Furthermore, the strong in-plane anisotropy of CrSBr induces unique polarization-dependent responses in MoSe$_2$ emissions. Our study highlights the crucial role of defects in shaping excitonic properties. It offers valuable insights into spectral-resolved proximity effects in van der Waals heterostructures between semiconductor and magnet, contributing to advancing spintronic and valleytronic devices., Comment: 9 pages, 4 figures

In recent years, with the realistic generation results and a wide range of personalized applications, diffusion-based generative models gain huge attention in both visual and audio generation areas. Compared to the considerable advancements of text2image or text2audio generation, research in audio2visual or visual2audio generation has been relatively slow. The recent audio-visual generation methods usually resort to huge large language model or composable diffusion models. Instead of designing another giant model for audio-visual generation, in this paper we take a step back showing a simple and lightweight generative transformer, which is not fully investigated in multi-modal generation, can achieve excellent results on image2audio generation. The transformer operates in the discrete audio and visual Vector-Quantized GAN space, and is trained in the mask denoising manner. After training, the classifier-free guidance could be deployed off-the-shelf achieving better performance, without any extra training or modification. Since the transformer model is modality symmetrical, it could also be directly deployed for audio2image generation and co-generation. In the experiments, we show that our simple method surpasses recent image2audio generation methods. Generated audio samples can be found at https://docs.google.com/presentation/d/1ZtC0SeblKkut4XJcRaDsSTuCRIXB3ypxmSi7HTY3IyQ/, Comment: 10 pages

The study of the mechanism of exchange bias phenomena and the achievement of its efficient control are of great importance, as it promotes the revelation of unique exchange interactions and the development of exotic applications. However, it is challenging due to the elusive interface between magnetic phases. In this study, we report an unprecedented exchange bias phenomenon observed in ultrathin uncompensated antiferromagnetic MnBi$_2$Te$_4$. The magnitude and direction of the exchange field can be intentionally controlled by designing a magnetic field sweep protocol without a field cooling process. The combined experimental and theoretical simulation results indicate that the spin-flip process assisted by the ubiquitous defect-induced pinning domain sites with varying inner exchange interactions might give rise to the emergence and robustness of this peculiar exchange bias. The temperature and thickness dependence of the exchange bias phenomena are systematically investigated for further study and exploitation of its unique properties. This mechanism hold promise for highly tunable exchange bias in prevalent magnetic systems by engineering the properties of domain structures, and also offers promising avenues for the design of spintronic devices combing its topology based on MnBi$_2$Te$_4$., Comment: 8 pages, 4 figures

CycleGAN has been proven to be an advanced approach for unsupervised image restoration. This framework consists of two generators: a denoising one for inference and an auxiliary one for modeling noise to fulfill cycle-consistency constraints. However, when applied to the infrared destriping task, it becomes challenging for the vanilla auxiliary generator to consistently produce vertical noise under unsupervised constraints. This poses a threat to the effectiveness of the cycle-consistency loss, leading to stripe noise residual in the denoised image. To address the above issue, we present a novel framework for single-frame infrared image destriping, named DestripeCycleGAN. In this model, the conventional auxiliary generator is replaced with a priori stripe generation model (SGM) to introduce vertical stripe noise in the clean data, and the gradient map is employed to re-establish cycle-consistency. Meanwhile, a Haar wavelet background guidance module (HBGM) has been designed to minimize the divergence of background details between the different domains. To preserve vertical edges, a multi-level wavelet U-Net (MWUNet) is proposed as the denoising generator, which utilizes the Haar wavelet transform as the sampler to decline directional information loss. Moreover, it incorporates the group fusion block (GFB) into skip connections to fuse the multi-scale features and build the context of long-distance dependencies. Extensive experiments on real and synthetic data demonstrate that our DestripeCycleGAN surpasses the state-of-the-art methods in terms of visual quality and quantitative evaluation. Our code will be made public at https://github.com/0wuji/DestripeCycleGAN.

In a real-world infrared imaging system, effectively learning a consistent stripe noise removal model is essential. Most existing destriping methods cannot precisely reconstruct images due to cross-level semantic gaps and insufficient characterization of the global column features. To tackle this problem, we propose a novel infrared image destriping method, called Asymmetric Sampling Correction Network (ASCNet), that can effectively capture global column relationships and embed them into a U-shaped framework, providing comprehensive discriminative representation and seamless semantic connectivity. Our ASCNet consists of three core elements: Residual Haar Discrete Wavelet Transform (RHDWT), Pixel Shuffle (PS), and Column Non-uniformity Correction Module (CNCM). Specifically, RHDWT is a novel downsampler that employs double-branch modeling to effectively integrate stripe-directional prior knowledge and data-driven semantic interaction to enrich the feature representation. Observing the semantic patterns crosstalk of stripe noise, PS is introduced as an upsampler to prevent excessive apriori decoding and performing semantic-bias-free image reconstruction. After each sampling, CNCM captures the column relationships in long-range dependencies. By incorporating column, spatial, and self-dependence information, CNCM well establishes a global context to distinguish stripes from the scene's vertical structures. Extensive experiments on synthetic data, real data, and infrared small target detection tasks demonstrate that the proposed method outperforms state-of-the-art single-image destriping methods both visually and quantitatively. Our code will be made publicly available at https://github.com/xdFai/ASCNet.