6 papers
Compositional Average Velocity Modeling for Efficient Diffusion Offline Reinforcement Learning
Thanh Nguyen, Abu Hanif Muhammad Syarubany, Hwanhee Kim +1
Diffusion-based policies have recently emerged as a powerful paradigm for offline reinforcement learning, but their reliance on multi-step denoising introduces substantial computat…
Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library
Abu Hanif Muhammad Syarubany, Jaehyun Jang, Hwanhee Kim +3
Recent humanoid soccer systems make motion tracking the substrate and derive locomotion from it, typically by steering a motion-reference anchor toward the ball. This yields strong…
SenseFuse: Label-Free Fusion of Image and Shape Encoders for Open-Vocabulary 3D Instance Segmentation
Euiseok Han, Tri Ton, Hwanhee Kim +2
Open-vocabulary scene understanding is fundamental for robotics, laying the groundwork for spatial reasoning and object manipulation. While closed-vocabulary 3D instance segmentati…
Action- and Language-Conditioned Video Assessment for Embodied Control
Hwanhee Kim, Jaehyun Jang, Seungmin Cha +3
Vision-based embodied agents executing multi-step natural language instructions require feedback mechanisms that assess task progress over complete trajectories. Conventional appro…
Video-Based Optimal Transport for Feedback-Efficient Offline Preference-Based Reinforcement Learning
Tung M. Luu, Hwanhee Kim, Younghwan Lee +1
Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering. Preference-based RL (PbRL) offers a promising alternative by learni…
Controllable 3D Molecular Generation for Structure-Based Drug Design Through Bayesian Flow Networks and Gradient Integration
Seungyeon Choi, Hwanhee Kim, Chihyun Park +7
Recent advances in Structure-based Drug Design (SBDD) have leveraged generative models for 3D molecular generation, predominantly evaluating model performance by binding affinity t…