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E-Ro Nguyen

Publications and source records attributed to E-Ro Nguyen.

2 recordsLinked to original sources

What is the Right Embedding Space for Contrastive Learning in Referring Expression Counting?

Referring Expression Counting (REC) requires distinguishing visually similar objects described by fine-grained text cues. Existing methods tackle this via image-text contrastive learning of visual features which aims to distinguish visual features corresponding to positive and negative referring expressions. However, this strategy relies heavily on accurate image-text alignment and is constrained by the limited number of available negative expressions. We argue that these limitations can be avoided by performing contrastive learning entirely in the visual embedding space. To this end, we introduce C-REX, a simple but effective supervised contrastive learning framework that learns fine-grained visual representations by contrasting visual tokens within the same image. By shifting the negative samples from incorrect Referring Expressions to visual tokens from the image, C-REX vastly increases the number of potential negatives, providing richer and more stable supervision. This design leads to stronger fine-grained visual discrimination and better generalization across complex open-world counting settings. C-REX serves as a plug-in module that can be seamlessly applied to any existing REC model without architectural changes. We apply it in three different REC architectures and achieve state-of-the-art results improving by up to 28% in MAE and 24.5% in RMSE. Moreover, we show that our framework is versatile and general, and can be applied to other counting tasks like class-agnostic counting, improving the performance of existing models.

cs.CV

SMILE: Smooth Motion for Improved Long-Horizon VLA Execution

Vision-Language-Action (VLA) models reduce inference cost by executing multiple actions per call, but longer horizons often degrade accuracy because raw chunks contain jitter and outliers. We introduce SMILE, an architecture-preserving interface that predicts B-spline coefficients and decodes them into smooth action sequences. SMILE changes only the action representation, enabling longer fixed horizons while retaining each baseline's backbone and model scale. We apply SMILE to SmolVLA, Evo1, VPP, and DAWN, improving accuracy and amortized inference efficiency across LIBERO, CALVIN, and real-world experiments. SMILE-Evo1 reaches 98.0% with a 1.1x speedup on LIBERO, while SMILE-VPP reaches an average length of 4.42 with a 1.5x speedup on CALVIN. At a matched execution horizon of 10, SMILE-SmolVLA reduces non-boundary acceleration by 78.6% and velocity sign-change rate by 42.3%. Real-world xArm tests show higher success, fewer drops, and fewer contacts. These results establish smooth coefficient-space generation as a route to accurate, efficient long-horizon VLA execution. Project page: jongwoopark7978.github.io/smilevla

cs.RO