arXiv subjects

Dongyoung Lee

Publications and source records attributed to Dongyoung Lee.

10 recordsLinked to original sources

arXiv2026

Horizon3D: Sparse Radar-Camera Fusion for Long-Range 3D Perception in Autonomous Driving

Long-range 3D object detection is critical for safe autonomous driving at highway speeds, yet existing radar-camera fusion methods remain limited at extended ranges. BEV-based methods capture scene-level context but incur rapidly growing computation and often lose fine-grained object detail, while query-based methods are efficient but provide limited scene-level context. Temporal fusion further requires both multi-frame accumulation for sparse distant observations and object-level motion modeling for fast-moving objects. We propose Horizon3D, a sparse radar-camera fusion framework for long-range 3D object detection that combines Gaussian primitives with sparse BEV features. Horizon3D initializes Gaussian primitives at radar- and camera-estimated object keypoints using Keypoint-Guided Gaussian Initialization, refines them through Object-Centric Sparse Fusion, and splats them onto the BEV plane to fuse object-level detail with sparse radar BEV context. It further introduces Dual-Path Temporal Fusion, which aggregates temporal cues through a BEV path for scene-level accumulation and a Gaussian path for object-level motion propagation. Experiments on TruckScenes show that Horizon3D achieves state-of-the-art radar-camera 3D detection performance. On the validation set, it outperforms the previous best method by +3.0 NDS and +1.6 mAP while maintaining competitive inference speed.

cs.CV↗

arXiv2026

Near-field Meta-optics

Metasurfaces have revolutionized compact wavefront control using planar, subwavelength structures. However, conventional meta-optical devices predominantly operate within a far-field paradigm, assuming electromagnetic decoupling between the source and metasurface, which limits control to post-emission wavefront shaping. Here, we define and experimentally demonstrate near-field meta-optics - a regime where strong source - structure coupling enables simultaneous control of emission and radiation. By integrating an inverse-designed dielectric metasurface directly within the near field of a terahertz photoconductive antenna (PCA), we show that the metasurface co-defines the emission process itself. Our meta-PCA, incorporating a 50-um-high metasurface - one-third the thickness required by reciprocal far-field designs - collapses emission from ~60deg divergence to a sharp < 10deg forward beam, while enhancing on-axis intensity 50-fold compared to bare GaAs. Unlike far-field metasurfaces that typically trade efficiency for thinness while remaining laterally large, our device achieves extreme compactness in both dimensions. Remarkably, it exceeds the outcoupling efficiency of a bulky, millimeter-scale silicon lens by 10%, despite a volume reduction of over three orders of magnitude. These results establish near-field meta-optics as a transformative paradigm for developing high-efficiency, ultra-compact on-chip photonic systems across the electromagnetic spectrum.

physics.optics↗

arXiv2026

Refractive Index Robustness of Metalenses

Metalenses have emerged as a powerful platform for compact wavefront engineering; however, their performance stability under refractive index fluctuations induced by environmental perturbations, such as temperature shifts, remains a critical concern. Here, we demonstrate the intrinsic refractive index robustness of dielectric metalenses and elucidate its physical origin. By parametrically sweeping the refractive index, we observe that the metalens maintains a stable focal profile with negligible deviations in best-focus position and spot size over a broad range of variations. We identify that this robustness arises from the structural invariance of the zone boundaries: despite index-induced local phase deformations, the spatial locations of the 2{\pi} phase-reset boundaries remain stationary, thereby maintaining the effective wavefront gradient. Furthermore, we reveal that this robustness enables a "quasi-scale-invariant" focusing behavior, where the focusing performance follows a predictable linear trend under uniform geometric scaling even in the presence of material dispersion. Our findings suggest that metalenses can maintain stable focusing behavior against refractive index variations that may arise from unavoidable environmental perturbations in practical optical systems.

physics.optics↗

arXiv2026

BUZZY: Contrastive Scoring to Mitigate Text-Induced Bias in Multimodal Multiple-Choice QA

Multimodal multiple-choice question answering (MCQA) provides a standardized and objectively measurable setting for evaluating vision-language models (VLMs). However, because the MCQA format incorporates the candidate choices into the input context, it introduces several unintended biases. Previous work has primarily focused on structural biases, such as preferences for certain choices. Instead, we argue that the choices act as textual priors, causing models to favor linguistically plausible options regardless of the visual content. We hypothesize and empirically verify that a model genuinely relies on visual evidence only when its multimodal distribution significantly diverges from its text-only distribution. Based on this observation we propose BUZZY,a training-free decoding method that corrects multimodal predictions by subtracting the text-only distribution. Experiments with five VLMs on five multimodal MCQA benchmarks demonstrate that BUZZY achieves the highest average accuracy among state-of-the-art methods while reducing inference latency by over 28% compared to prior contrastive decoding approaches. Overall, these results suggest that amplifying the visual signal by penalizing text-only preferences is key to efficient and robust multimodal MCQA reasoning. Code and additional resources are provided https://txxnrd.github.io/buzzy/.

cs.AI↗

arXiv2026

CarPLAN: Context-Adaptive and Robust Planning with Dynamic Scene Awareness for Autonomous Driving

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex driving contexts inherent in real-world data and enabling context-adaptive decision-making, rather than relying solely on expert trajectory imitation. In this paper, we propose CarPLAN, a novel IL-based motion planning framework that explicitly enhances driving context understanding and enables adaptive planning across diverse traffic scenarios. Our contributions are twofold: We introduce Displacement-Aware Predictive Encoding (DPE) to improve the model's spatial awareness by predicting future displacement vectors between the Autonomous Vehicle (AV) and surrounding scene elements. This allows the planner to account for relational spacing when generating trajectories. In addition to the standard imitation loss, we incorporate an augmented loss term that captures displacement prediction errors, ensuring planning decisions consider relative distances from other agents. To improve the model's ability to handle diverse driving contexts, we propose Context-Adaptive Multi-Expert Decoder (CMD), which leverages the Mixture of Experts (MoE) framework. CMD dynamically selects the most suitable expert decoders based on scene structure at each Transformer layer, enabling adaptive and context-aware planning in dynamic environments. We evaluate CarPLAN on the nuPlan benchmark and demonstrate state-of-the-art performance across all closed-loop simulation metrics. In particular, CarPLAN exhibits robust performance on challenging scenarios such as Test14-Hard, validating its effectiveness in complex driving conditions. Additional experiments on the Waymax benchmark further demonstrate its generalization capability across different benchmark settings.

cs.RO↗

arXiv2025

Post-Training Quantization via Residual Truncation and Zero Suppression for Diffusion Models

Diffusion models achieve high-quality image generation but face deployment challenges due to their high computational requirements. Although 8-bit outlier-aware post-training quantization (PTQ) matches full-precision performance, extending PTQ to 4 bits remains challenging. Larger step sizes in 4-bit quantization amplify rounding errors in dense, low-magnitude activations, leading to the loss of fine-grained textures. We hypothesize that not only outliers but also small activations are critical for texture fidelity. To this end, we propose Quantization via Residual Truncation and Zero Suppression (QuaRTZ), a 4-bit PTQ scheme for diffusion models. QuaRTZ applies 8-bit min-max quantization for outlier handling and compresses to 4 bits via leading-zero suppression to retain LSBs, thereby preserving texture details. Our approach reduces rounding errors and improves quantization efficiency by balancing outlier preservation and LSB precision. Both theoretical derivations and empirical evaluations demonstrate the generalizability of QuaRTZ across diverse activation distributions. Notably, 4-bit QuaRTZ achieves an FID of 6.98 on FLUX.1-schnell, outperforming SVDQuant that requires auxiliary FP16 branches.

cs.CV↗

arXiv2025

KLAAD: Refining Attention Mechanisms to Reduce Societal Bias in Generative Language Models

Large language models (LLMs) often exhibit societal biases in their outputs, prompting ethical concerns regarding fairness and harm. In this work, we propose KLAAD (KL-Attention Alignment Debiasing), an attention-based debiasing framework that implicitly aligns attention distributions between stereotypical and anti-stereotypical sentence pairs without directly modifying model weights. KLAAD introduces a composite training objective combining Cross-Entropy, KL divergence, and Triplet losses, guiding the model to consistently attend across biased and unbiased contexts while preserving fluency and coherence. Experimental evaluation of KLAAD demonstrates improved bias mitigation on both the BBQ and BOLD benchmarks, with minimal impact on language modeling quality. The results indicate that attention-level alignment offers a principled solution for mitigating bias in generative language models.

cs.CL↗

arXiv2025

OnlineBEV: Recurrent Temporal Fusion in Bird's Eye View Representations for Multi-Camera 3D Perception

Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be further enhanced by combining sequential BEV features obtained from multiple camera frames. However, even after compensating for the ego-motion of an autonomous agent, the performance gain from temporal aggregation is limited when combining a large number of image frames. This limitation arises due to dynamic changes in BEV features over time caused by object motion. In this paper, we introduce a novel temporal 3D perception method called OnlineBEV, which combines BEV features over time using a recurrent structure. This structure increases the effective number of combined features with minimal memory usage. However, it is critical to spatially align the features over time to maintain strong performance. OnlineBEV employs the Motion-guided BEV Fusion Network (MBFNet) to achieve temporal feature alignment. MBFNet extracts motion features from consecutive BEV frames and dynamically aligns historical BEV features with current ones using these motion features. To enforce temporal feature alignment explicitly, we use Temporal Consistency Learning Loss, which captures discrepancies between historical and target BEV features. Experiments conducted on the nuScenes benchmark demonstrate that OnlineBEV achieves significant performance gains over the current best method, SOLOFusion. OnlineBEV achieves 63.9% NDS on the nuScenes test set, recording state-of-the-art performance in the camera-only 3D object detection task.

cs.CV↗

arXiv2025

Qrazor: Reliable and Effortless 4-bit LLM Quantization by Significant Data Razoring

Large-scale language models (LLMs) excel in language processing tasks but face deployment challenges due to high memory and computational demands. While low-bit quantization, such as 4-bit techniques, offers a potential solution, these methods often suffer from significant accuracy loss or require considerable effort for implementation such as reordering, rotation, etc. To address these challenges, we propose QRazor, a simple yet effective quantization scheme that enables 4-bit quantization of weights, activations, and KV cache in transformer-based LLMs. QRazor operates in two stages: first, quantizing data using 8 or 16-bit integers as a basis with absolute max scaling to preserve accuracy close to full-precision models, and second, compressing the quantized data to 4-bit using our significant data razoring (SDR) technique, which retains only the four most salient bits. Without any additional requirment of fine-tuning or additional training, QRazor achieves performance similar or better compared to state-of-the-art in 4-bit quantization method, surpassing Smoothquant and QLLM by over 12 points and Quarot(RTN) by more than 2.9 points in zero-shot reasoning task accuracy on the LLaMA2-7B model. Additionally, we introduce an integer-based arithmetic unit optimized for QRazor, allowing direct low-precision operations on SDR data without decompression.

cs.LG↗

arXiv2024

ProtoOcc: Accurate, Efficient 3D Occupancy Prediction Using Dual Branch Encoder-Prototype Query Decoder

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main components: the Dual Branch Encoder (DBE) and the Prototype Query Decoder (PQD). The DBE produces a new 3D voxel representation by combining 3D voxel and BEV representations across multiple scales through a dual branch structure. This design enhances both performance and computational efficiency by providing a large receptive field for the BEV representation while maintaining a smaller receptive field for the voxel representation. The PQD introduces Prototype Queries to accelerate the decoding process. Scene-Adaptive Prototypes are derived from the 3D voxel features of input sample, while Scene-Agnostic Prototypes are computed by applying Scene-Adaptive Prototypes to an Exponential Moving Average during the training phase. By using these prototype-based queries for decoding, we can directly predict 3D occupancy in a single step, eliminating the need for iterative Transformer decoding. Additionally, we propose the Robust Prototype Learning, which injects noise into prototype generation process and trains the model to denoise during the training phase. ProtoOcc achieves state-of-the-art performance with 45.02% mIoU on the Occ3D-nuScenes benchmark. For single-frame method, it reaches 39.56% mIoU with an inference speed of 12.83 FPS on an NVIDIA RTX 3090. Our code can be found at https://github.com/SPA-junghokim/ProtoOcc.

cs.CV↗