5 papers · 1 filter
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…
Event-Driven Refresh and Recurrence Memory to Reduce Stale Grounding in Referring Video Object Segmentation
Abu Hanif Muhammad Syarubany, Jaehyun Jang, Siwoo Lim +2
Referring Video Object Segmentation (RVOS) aims to produce a pixel-accurate mask sequence for an object specified by natural language. Sa2VA combines a multimodal large language mo…
EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation
Abu Hanif Muhammad Syarubany, Chang D. Yoo
Visuomotor policies for humanoid loco-manipulation must generalize across object poses and lighting from only a handful of demonstrations. 3D Diffusion Policy (DP3) conditions a di…
Budgeted Cache Repair for Cross-Context KV-Cache Reuse
Haeyong Kang, Chang D. Yoo
Cross-context KV-cache reuse predicts a shared segment's keys and values under a new prefix instead of recomputing them, and has been reported to do so without quality loss. We fin…
When to Evict, Not What to Keep: Draft-Guided Eviction for Training-Free KV-Cache Compression
Haeyong Kang, Chang D. Yoo
Training-free KV-cache compression methods such as SnapKV, H2O, and PyramidKV evict tokens at the end of prefill, aiming to preserve the attention mass that future queries are expe…