Search arXiv⌕ Search

arXiv subjects

Donghyun Kim

Publications and source records attributed to Donghyun Kim.

At least 19 recordsLinked to original sources
arXiv2026

Comparative study of global pooling for pre-departure ship fuel consumption prediction: Advantages over per-ship and adaptation-based approaches

Most fuel oil consumption (FOC) models for voyage planning are per-ship models and thus generalize poorly beyond each vessel's records. Transfer and federated learning have been reported to perform better, but under different protocols that often use inputs unavailable before departure or random data splits. It therefore remains unclear which approach performs best. In this study, we compare 11 per-ship, adaptation-based, and global methods on 21 vessels. To prevent leakage, all methods receive identical inputs known or forecast before departure, excluding engine RPM and shaft power, and are tested on intact voyage legs after all training records of each vessel. Global pooling, in which one model describes each vessel by its ship identity and seven ship specifications, performs best overall in every setting examined. For in-fleet vessels, Global LightGBM reaches an overall MAPE of 8.92%, against 11.14% for Per-Ship LightGBM, and outperforms every per-ship and adaptation-based model. Global models of five architectures, including a Transformer, all outperform the per-ship and federated models. Fine-tuning a global model for each vessel, even by low-rank adaptation of the Transformer, adds no accuracy. Without any records of a vessel, the global model reaches a median MAPE of 11.20% and outperforms a per-ship model trained on that vessel's records for 14 of 21 vessels. Adding its first records to the pooled data is as accurate as vessel-specific adaptation. Ship identity and specifications are largely interchangeable for in-fleet vessels, but only the specifications support zero-shot prediction. Its error grows as a vessel's specifications differ from the fleet's. Per-ship models and vessel-specific adaptation are therefore unnecessary under fair comparison. One global model can serve a whole fleet, including newly delivered vessels with similar specifications.

cs.LG↗
arXiv2026

Simultaneous inference for additive regression

This paper develops methods for simultaneous inference on component functions in additive models. We first propose bias-corrected smooth backfitting estimators inspired by least squares linear regression and establish their asymptotic properties. We then show that the distributions of the uniform errors of these estimators converge to a Gumbel-type distribution. Based on this distributional approximation, we construct simultaneous confidence bands and develop a practical residual-based procedure for testing the additive components. Simulation studies and empirical data analyses demonstrate that the proposed estimators reduce bias and improve estimation accuracy compared with several existing estimators. Moreover, the empirical coverage probabilities of the proposed simultaneous confidence bands are found to be comparable to those of their oracle counterparts.

math.ST↗
arXiv2026

Scaling Limits of Multichannel Spectral Routers for Snapshot Imaging

Inverse-designed spectral routers can enable compact snapshot spectral imaging by directing different wavelengths to designated detector sub-pixels without mechanical scanning or absorptive filters. Here, we examine how routing performance varies as the number of spectral channels increases while the visible bandwidth remains fixed. A delay-bandwidth analysis relates channel count, worst-channel efficiency, and device thickness, explaining the growing optical capacity required to generate many spatially distinct spectral outputs. We then use adjoint-based topology optimization and three-dimensional finite-difference time-domain simulations to design TiO2/SiO2 routers with 9, 16, 25, and 36 channels under matched material, bandwidth, and thickness conditions. The average routing efficiency increases with sub-pixel size and approaches a plateau, while the maximum near-plateau efficiency decreases monotonically from 97.0% for 9 channels to 82.3% for 36 channels. At a fixed channel count, compressing the wavelength spacing to 8 nm or rearranging the wavelength-to-sub-pixel assignment changes the efficiency by less than one percentage point. These results indicate that the observed efficiency penalty is governed mainly by the number of wavelength-dependent routing constraints rather than by wavelength spacing or local wavelength arrangement. The findings quantify the trade-off between spectral sampling and optical throughput in compact snapshot spectral imagers.

physics.optics↗
arXiv2026

Fast Motion Retargeting Pipeline for Scalable Humanoid Robot Learning

While large-scale human motion capture datasets provide a rich source of demonstrations for humanoid robot learning, retargeting the diverse motions to different humanoid robots remains a nontrivial challenge. Existing kinodynamic trajectory optimization pipelines are computationally expensive and often require manual adjustments per motion. We present FRDV (Fast Retargeting with Dynamics Validation), a scalable framework consisting of rapid constrained kinematic retargeting and an additional dynamics validation pipeline. Its kinematic stage integrates a custom Sequential Quadratic Programming solver, Real-Time Iteration, and parallel chunk-based processing, achieving up to 9,156 frames per second, approximately up to 136 times faster than GMR and ProtoMotions, while robot-specific constraints are incorporated into the optimization to reduce common retargeting artifacts, such as ground penetration and self-collision. For motions requiring additional verification, a contact implicit iLQR controller is utilized to test the retargeted reference under full rigid body dynamics. This dynamics-based validation identifies dynamically infeasible motions and refines contact-related artifacts such as foot floating and foot skating. We evaluate retargeting quality by training motion tracking reinforcement learning policies using several state-of-the-art pipelines and comparing their tracking fidelity and success rates. Furthermore, sim-to-real transfer is demonstrated on a Unitree G1 humanoid. Videos and code are available at: https://daroslab.github.io/frdv/.

cs.RO↗
arXiv2026

Your Embedding Model is SMARTer Than You Think

Multimodal retrieval relies heavily on single-vector retrievers, which compress rich, sequential token sequences into one single global representation. While efficient, they discard fine-grained, local evidence critical for dense retrieval tasks. Multi-vector approaches were introduced as a solution, but they strictly require training and many ignore the necessity of a globally summarizing representation. To address this, we introduce SMART, a framework that unlocks the latent multi-vector capabilities of standard single-vector models. We first observe that gradients from the pooled contrastive objective reach the preceding hidden states, and then show empirically that these states are already organized for cosine-based matching. By applying direct late-interaction over these frozen hidden states during inference, SMART acts as a plug-and-play upgrade that consistently improves performance across diverse modalities, improving even the state-of-the-art models further on MMEB-V2. We also show that lightweight post-training saves time and compute while further improving Visual Document retrieval, allowing a single-vector model to perform competitively with SoTA multi-vector counterparts. SMART targets dense retrieval: its gains concentrate on fine-grained and visual-document tasks, it is on par on global tasks such as classification, and it trades additional per-token index storage for these gains. Ultimately, SMART offers both a highly efficient inference enhancement and a powerful finetuning technique for multimodal retrieval. We open source our code and weights at https://github.com/HanSolo9682/SMART.

cs.IR↗
arXiv2026

Gamma Expansions of Level Two Large Deviation Rate Functionals for Metastable Diffusions

Consider the diffusions $dX_t^\varepsilon=b(X_t^\varepsilon)dt+\sqrt{2\varepsilon}σ(X_t^\varepsilon)dB_t$ on $\mathbb{R}^d$, where $b$ and $σ$ are smooth coefficients and $B_t$ is an $r$-dimensional Brownian motion, with $r\le d$. We allow nonreversible dynamics and a degenerate diffusion matrix. Let $\mathcal{I}_\varepsilon$ be the level-two large deviation rate functional of the empirical measure. Under our assumptions, including a complete metastable hierarchy described by resolvent convergence, we establish the full $Γ$-expansion $\mathcal{I}_\varepsilon=\frac{1}{\varepsilon}\mathcal{J}^{(-1)}+\mathcal{J}^{(0)}+\sum_{p=1}^{\mathfrak{q}}\frac{1}{θ_\varepsilon^{(p)}}\mathcal{J}^{(p)}$ in the sense of successive $Γ$-limits in the weak topology on probability measures. Here $θ_\varepsilon^{(p)}$ are the metastable time scales, and each $\mathcal{J}^{(p)}$, $p\ge1$, is the lift of the level-two rate functional of the corresponding finite-state Markov chain. We establish the pre-metastable $Γ$-limits for generalized overdamped, underdamped, and third-order Langevin dynamics. For the generalized overdamped model, existing metastability results yield the full expansion under additional conditions. For the underdamped and third-order models, the full expansion remains conditional on verification of the complete metastable hierarchy.

math.PR↗
arXiv2026

NavAble: A Large-Scale Dataset and Synthetic Data Generation Pipeline for Blind Navigation

Reliable recognition of accessibility-critical objects (e.g., audible pedestrian signals, door-activation buttons, and handrails) is essential for assistive navigation technologies that support safe, independent mobility for blind and low-vision (BLV) users. Yet these categories are underrepresented in existing large-scale vision datasets, and the few datasets that include them suffer from limited class coverage, inconsistent annotations, and poor diversity. We introduce NavAble, a large-scale dataset spanning 11 accessibility-critical object classes, combining 41K curated open-source images with 8K newly collected, densely annotated real-world images. To extend scale and diversity, we develop a synthetic data generation pipeline that renders high-fidelity 3D assets across 37 environments under diverse styles and viewpoints, yielding 452K frames with rich ground-truth annotations from 565 assets. The pipeline minimizes manual effort by combining automated web image crawling, VLM-based filtering, SAM 3D-based asset generation, and convenient camera trajectory configuration, enabling large-scale data generation at a diversity unattainable through manual collection. Experiments show that fine-tuning existing segmentation models on the NavAble Dataset achieves reliable accessibility-object segmentation (>80% mIoU on our held-out test set). We also demonstrate the effectiveness of synthetic data augmentation, which yields up to +3.5 mIoU over real-world-only fine-tuning. Beyond benchmark evaluation, validation on egocentric data from two mobility-assistive robots demonstrates improved perception reliability in real-world navigation scenarios. Together, NavAble establishes a scalable foundation for BLV navigation perception, directly addressing the data scarcity and embodiment gaps. The dataset and pipeline are publicly available at https://huggingface.co/datasets/NavAble/NeurIPS_2026_BLV.

cs.CV↗
arXiv2026

Collaborative Planning for UAV-UGV Teams under Operational Constraints via Masked Error-bounded Neuro-Symbolic Diffusion

Collaborative planning under operational constraints is essential for heterogeneous robot teams in large-scale missions. Unmanned Aerial Vehicles (UAVs) provide rapid area coverage but are limited by onboard energy, while Unmanned Ground Vehicles (UGVs) can serve as mobile recharging stations yet are constrained by road-network traversability. Effective collaboration must enforce operational constraints during execution while enabling parallel, coordinated actions. Masked Diffusion Models (MDMs) have shown promise through token unmasking but have two key limitations: entropy-guided scheduling assumes distributional alignment and reliance on differentiable constraints for diffusion-time optimization. We propose Masked Error-bounded Neuro-Symbolic Diffusion (MEND), which formulates collaborative planning as a conditional masked generative process to generate context-aware action sequences for UAV-UGV teams. MEND introduces a neuro-symbolic diffusion paradigm that constrains conditional masked diffusion policies at execution by reweighting the learned action distribution with a logic-induced admissibility indicator, thereby enforcing compliance with operational constraints. MEND introduces an error-bounded inference scheduling at execution that constructs the unmasking schedule by selecting positions with minimal predictive entropy over the constraint-aware action distribution, enhancing collaborative planning optimality under operational constraints. Extensive experimental results in simulation, on real-world maps, and with physical robot teams demonstrate that MEND advances UAV-UGV collaborative planning under operational constraints.

cs.RO↗
arXiv2026

Digital Twin-Driven Real2Sim2Real: Simulator-Conditioned Generation via Paired Driving-Scene Reconstruction

Camera-based 3D perception for autonomous driving relies heavily on large annotated datasets, and deploying such a system to a new target region typically requires data collection and annotation. Generative augmentation has been proposed to reduce this cost, but existing approaches face a fundamental trade-off: label-conditioned methods consume the very annotations they aim to replace, while simulator-conditioned methods offer free annotations but lack visual grounding to specific real environments. This work investigates the extent to which a digital-twin-driven Real2Sim2Real pipeline (DT-R2S2R) can substitute for target-region real data. By reconstructing recorded driving clips inside a georeferenced digital twin (DT-R2S), we condition a diffusion model on geometrically aligned simulator renderings, establishing a digital twin-grounded Sim2Real model (DT-S2R). As a result, DT-S2R synthesizes photorealistic driving images given low-cost yet georeferenced simulator data across both reconstructed and novel simulator scenes within digital-twin coverage. The efficacy of generated data is verified on diverse 3D detectors. DETR3D, especially, reports 93.18% of mAP obtained by a target-region real-data oracle, without employing target images for detector training. Furthermore, simple co-training with existing out-of-target real data outperforms the oracle. Thus, DT-R2S2R can substantially reduce the cost of manual on-site data collection and annotation in digital twin-available districts, providing a practical foundation for scaling 3D perception.

cs.CV↗
arXiv2026

EMHO: EMbodied Agent Harness Optimization via Experience Traces

Improving embodied agents often focuses on optimizing the underlying model through training, while the surrounding agent harness that controls planning, context, and tool use is typically engineered. We ask whether this harness can instead improve itself directly from experience traces under sparse environmental feedback. We propose EMbodied Agent Harness Optimization (EMHO), a self-evolving framework that keeps the embodied model frozen and iteratively revises its harness by analyzing execution trajectories and prior harness history. EMHO optimizes beyond skills or recovery prompts, modifying how the agent monitors progress, uses vision tools, grounds observations, and responds to failures. To support multiple subtasks with a single harness, we introduce EMHO-Merge, which addresses trade-offs in jointly optimizing a single shared harness across subtasks by using episode-level gains and losses to guide evidence-supported refinement of when and how revised behaviors are applied. We evaluate EMHO on EmbodiedBench across navigation and manipulation tasks, and EMHO consistently improves task success for both Qwen 9B and 27B models. Qualitative analysis shows that EMHO goes beyond recovering from failures and unproductive actions to reshape how the embodied agent interprets and interacts with its environment.

cs.AI↗
arXiv2026

Bayesian Optimization on Function Spaces via Sparse RKHS Manifolds

Bayesian Optimization (BO) has become an established methodology for minimizing black-box functions of a vector input. Often, however, this parameter vector arises from the discretization of an inherently functional relationship. Several recent articles have considered the Functional Bayesian Optimization (FBO) setting, in which the variable to be optimized is not a member of a finite dimensional vector space, but rather an infinite dimensional function space. In this work, we propose $L^0$ Manifold Optimization (L0MO), a simple approach to FBO which searches the subset of a Reproducing Kernel Hilbert Space (RKHS) consisting of functions with a sparse representation in the kernel functions, optimizing both the kernel locations and their coefficients. We discuss in detail the relationship between our method and existing ones, providing a unifying lens through which to view prior works. To assess our method against the state of the art, we conduct an extensive computational study, and along the way develop a novel set of benchmark test functions which port standard finite-dimensional ones to the infinite dimensional domain. Our experiments demonstrate that, on balance, the proposed method achieves superior performance across a wide range of test benchmarks.

stat.ML↗
arXiv2026

VidOmni-Bench: A Benchmark for Fine-Grained Video Understanding via Spatio-Temporal Event Verification across Complexity and Duration

While Video Large Language Models (Video-LLMs) have recently demonstrated strong performance, reliably evaluating their fine-grained video understanding remains challenging. Existing benchmarks often rely on question answering or ground-truth caption matching, where models may succeed through superficial cues and incomplete annotations. To this end, we introduce VidOmni-Bench, a benchmark that requires models to verify whether each event in dense video captions is supported by the video. VidOmni-Bench consists of 500 videos spanning five complexity types and diverse durations from 4 seconds to 90 minutes. After collecting videos along these axes, we use diverse Video-LLMs to generate dense captions and obtain human-verified sentence-level labels, where sentences containing incorrect events serve as hard negatives for evaluation. Our experiments on VidOmni-Bench reveal three key findings: (i) Video-LLMs frequently generate hallucinated descriptions in dense video captioning; (ii) they also struggle as verifiers, failing to reliably detect plausible but incorrect event descriptions; and (iii) model weaknesses vary across video complexity and duration, revealing diverse, model-specific bottlenecks in current Video-LLMs.

cs.CV↗
arXiv2026

Mitigating Sequential Reappearance in Diffusion Data-Point Unlearning

Diffusion data-point unlearning is typically evaluated immediately after each deletion, even though subsequent requests may repeatedly update the same model. We identify sequential reappearance, a failure mode in which an instance that is initially judged to be forgotten later returns to the memorized regime without reuse of the deleted data or adversarial fine-tuning. To capture this behavior, we introduce a target-level evaluation protocol that tracks whether each target is forgotten immediately, remains forgotten at the end of the sequence, or reappears during subsequent deletions. We further find that targets that later reappear exhibit sharper local denoising-loss geometry after deletion than targets that remain forgotten.

cs.LG↗
arXiv2026

Grounding Confusable Movie Moments

Characters, locations, and actions recur throughout a movie, so many of its moments differ only in fine-grained details. Grounding such a moment in a full-length movie requires resolving that detail rather than matching the attributes it shares with other moments, yet existing temporal movie grounding benchmarks rarely test this. We introduce CoM$^2$-Bench, a benchmark of confusable query pairs, where the two queries in each pair share most attributes but differ in a single distinguishing detail within a full movie, posing a challenge for recent temporal grounding approaches. To locate where grounding breaks down, we analyze a retrieve-then-localize pipeline, in which a retriever first selects a short candidate chunk and a localizer then performs temporal grounding within it. Separating the two stages lets us attribute each failure to either retrieval or localization. We find that retrieval is the major bottleneck: state-of-the-art retrievers often select a moment's confusable counterpart, because their choices follow the content the two moments share rather than the detail that tells them apart. To address these failures, we propose a simple, training-free remedy, Agentic Window Search (AWS): an MLLM agent $\textit{Decomposes}$ the query into attribute-level sub-queries, then $\textit{Inspects}$ each candidate window against them and $\textit{Expands}$ the window when evidence is cut off at its edge. AWS works with existing retrievers and localizers without additional training, raising mIoU from 18.5 to 26.8.

cs.CV↗
arXiv2026

KSAFE-MM: A Multimodal Safety Benchmark via Localized Contextualization for Korean Cultural Risks

Multimodal Large Language Models (MLLMs) exacerbate safety risks by introducing vulnerabilities across multiple modalities, such as language and vision. Current MLLM safety evaluation tools, however, suffer from major limitations: 1) English-centric dataset construction, and 2) a focus on generic risks that are not tied to local cultural contexts. This paper introduces KSAFE-MM, a benchmark for Korean multimodal safety evaluation that covers both general safety risks and culture-specific vulnerabilities. KSAFE-MM consists of two complementary parts: KSAFE-MM-G evaluates globally shared risks in Korean contexts through linguistic contextualization, which transforms generic safety queries into contextually grounded multimodal samples. In contrast, KSAFE-MM-C targets safety vulnerabilities that are culture-dependent, using localized visual queries drawn from real-world. It pairs these visual queries with jailbreak-style textual queries to cover multimodal safety risks involving cultural visual cues and malicious textual intent. We evaluate 12 state-of-the-art MLLMs on KSAFE-MM and reveal culturally grounded vulnerabilities that translation-based evaluation fails to capture. Notably, jailbreaking strategies substantially amplify attack success rates, with ProgramExecution yielding up to 74.2% ASR compared to 13.4% for standard queries. Furthermore, we identify a systematic trade-off between safety and over-refusal, where models achieving low ASR tend to exhibit excessive refusal behavior on benign queries. These findings highlight the urgent need for culturally grounded safety evaluation beyond English-centric benchmarks.

cs.CL↗
arXiv2026

Reforge: Low-Latency Distributed GNN Serving with Selective Embedding Recomputation

Graph Neural Networks (GNNs) have been widely adopted for their ability to compute expressive node representations in graph datasets. However, serving GNNs on large graphs is challenging due to the high communication, computation, and memory overheads of constructing and executing computation graphs, which represent information flow across large neighborhoods. Existing approximation techniques in training can mitigate the overheads but, in serving, still lead to high latency and/or accuracy loss. To this end, we propose Reforge, a system that enables low-latency GNN serving for large graphs with minimal accuracy loss through two key ideas. First, Reforge employs selective recomputation of precomputed embeddings, which allows for reusing precomputed computation subgraphs while selectively recomputing a small fraction to minimize accuracy loss. Second, we develop computation graph parallelism, which reduces communication overhead by parallelizing the creation and execution of computation graphs across machines. Our evaluation with large graph datasets and GNN models shows that Reforge significantly outperforms state-of-the-art techniques.

cs.DC↗
arXiv2026

Askey--Wilson polynomials with ASEP parameters

Koornwinder moments generalize the Askey--Wilson moments arising in the asymmetric simple exclusion process. Rains conjectured that, under the specialization $t=q$, the minimal numerators of Koornwinder moments have nonnegative integer coefficients. While the one-row case of this conjecture was previously proved by Corteel, Mandelshtam, and Williams using rhombic staircase tableaux, its dual counterpart, the one-column case, has remained open. In this paper, we derive a closed, manifestly positive combinatorial formula for the normalized numerators of the coefficients of the rescaled Askey--Wilson polynomials. This proves Rains' conjecture for one-column partitions, thereby providing the exact dual counterpart to the previous result.

math.CO↗
arXiv2026

Talk in Pieces, See in Whole: Disentangled and Hierarchical Representation Learning in Language-based Object Detection

Vision-language models (VLMs) have advanced multimodal perception, demonstrated by open-vocabulary object detection with simple language queries. State-of-the-art VLMs still struggle to handle complex queries involving descriptive attributes and relational clauses. To address this problem, we propose restructuring linguistic representations according to the hierarchical relations within sentences for language-based object detection. A key insight is that textual tokens should be disentangled into core components-objects, attributes, and relations-and aggregated into hierarchically structured sentence-level representations. Building on this principle, we introduce the TaSe (Talk in Pieces, See in Whole) framework with three main contributions: (1) a hierarchical synthetic captioning dataset spanning three tiers from category names to descriptive sentences; (2) the three-component disentanglement module guided by a novel disentanglement loss function, transforms text embeddings into subspace compositions; and (3) aggregating disentangled components into hierarchically structured embeddings guided by the proposed hierarchical objectives. Experimental results under the OmniLabel benchmark show a 24% performance improvement, demonstrating the importance of linguistic compositionality.

cs.CV↗