Byungwook Lee | Searcharxiv

arXiv2026

KoSimpleQA: A Korean Factuality Benchmark with an Analysis of Reasoning LLMs

We present $\textbf{Korean SimpleQA (KoSimpleQA)}$, a benchmark for evaluating factuality in large language models (LLMs) with a focus on Korean cultural knowledge. KoSimpleQA is designed to be challenging yet easy to grade, consisting of 938 short, fact-seeking questions with unambiguous answers. We conduct a comprehensive evaluation across a diverse set of open-source LLMs of varying sizes that support Korean, and find that even the strongest model generates correct answer only 31.6% of the time, underscoring the challenging nature of KoSimpleQA. Notably, performance rankings on KoSimpleQA differ substantially from those on the English SimpleQA, highlighting the unique value of our dataset. Furthermore, we observe that reasoning helps mitigate the cross-lingual knowledge gap in LLMs, which refers to disparities in their ability to manifest knowledge across languages. KoSimpleQA can be found at https://github.com/naver-ai/KoSimpleQA.

cs.CL↗

arXiv2026

ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion

In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles by imitating kinematic motion features, but they do not directly regularize dynamics features, such as CoM motion, centroidal momentum, contact forces, and contact states. To address this limitation, we replace kinematic motion-style feature with selected dynamics features extracted from locomotion trajectories as the target of adversarial regularization. To this end, we use trajectory optimization to construct a reference dataset and train a discriminator to evaluate whether policy-induced temporal windows are consistent with the resulting reference distribution. Without explicit motion tracking, ADP encourages policy rollouts to remain close to the reference support, even after perturbations. Experimental results show that, compared with AMP, the strongest baseline in our evaluation, ADP improves the $80\%$-success impulse threshold ($J_{80}$) by $16.7\%$, while reducing direction-averaged recovery time and velocity tracking error by $47.9\%$ and $35.4\%$, respectively.

cs.RO↗