arXiv subjects

Chan Kim

Publications and source records attributed to Chan Kim.

At least 19 recordsLinked to original sources

arXiv2026

Train-Resolved Statistical Recovery of Weak SAXS Signals in Liquids at the European XFEL

We present a train-resolved SAXS methodology for recovering weak scattering signals from high-repetition-rate XFEL datasets and apply it to aqueous L-cysteine solutions measured at the European XFEL. Independent scale-plus-offset fitting was performed for matched cysteine and water train pairs, followed by subtraction of transmission-matched water--water controls. The 0.5 M dataset reveals a reproducible sign-changing residual SAXS signal that increases with incident XFEL transmission and remains after removal of detector-wide scaling, additive offsets, and matched water--water control residuals. Convergence and block-averaging analyses show that the residual emerges progressively as independent train pairs are accumulated and exhibits uncertainty scaling close to the expected inverse square-root dependence on N. These results establish a statistically robust transmission-dependent residual SAXS contribution whose microscopic origin remains unresolved, while demonstrating that train-resolved observables combined with matched controls can substantially improve sensitivity to weak scattering signals in high-repetition-rate XFEL experiments.

physics.optics↗

arXiv2026

The Quarter-Hour Effect: Periodic Algorithmic Trading and Return Predictability in Cryptocurrency Futures

Cryptocurrency markets exhibit periodic bursts in volatility and volume at one-minute, five-minute, and quarter-hour marks. Using trade data for six Binance perpetual contracts, we link these bursts to algorithmic participation: trade-size roundness declines sharply during them. The Autocorrelation Map, a clock-phase-resolved display, reveals serial dependence in order flow and returns at quarter-hour openings that conventional measures obscure. Opening returns are predictable out of sample, while opening order imbalance predicts returns over four to twelve hours, with much weaker effects at finer clock-time frequencies. Together, these findings characterize periodic algorithmic trading and its cross-frequency variation.

q-fin.TR↗

arXiv2026

Time Resolved Study of Laser Induced Ultrafast Alloying Processes in Au/Pd Core Shell Nanorods

Femtosecond laser-induced alloying presents a novel approach to modifying bimetallic systems. Visualizing ultrafast processes during laser-induced alloying is essential to uncover fundamental mechanisms associated with phase transformations, which enables precise control over material composition and structure at the atomic level. In this study, we investigated the ultrafast dynamics of laser-induced alloying of Au/Pd core-shell nanorods using a time-resolved X-ray diffraction technique at an X-ray free-electron laser facility, capturing the structural evolution from picoseconds to microsecond timescales. We found that a laser fluence threshold of ~ 48 mJ/cm2 with 800 nm excitation is sufficient for melting and subsequent alloy formation. Above this threshold, the formation of Au1.51Pd0.49 was observed, and we found that alloying is not a single-step phenomenon; instead, it is a dynamic process involving interdiffusion.

cond-mat.mtrl-sci↗

arXiv2025

Single-Particle X-ray Scattering Reveals a High Local Supersaturation of Precursors as the Origin of CoO Assembly Formation

Single-particle small-angle X-ray scattering (SP-SAXS) enables quantitative morphological analysis by recording diffraction snapshots from isolated particles using X-ray free-electron laser (XFEL) pulses. Unlike conventional X-ray techniques, which average over the entire illuminated sample volume, SP-SAXS resolves low-contrast, less abundant, or transient species within heterogeneous particle populations that would otherwise remain hidden. Here, we apply SP-SAXS to investigate the solvothermal formation of CoO nanocrystal assemblies from a Co(acac)$_3$ precursor in benzyl alcohol. The single-particle data reveal amorphous, uniform-density Co(acac)$_2$ spheres as transient intermediates that directly crystallize into cavernous CoO nanocrystal assemblies, which explains why CoO forms as hierarchical aggregates rather than as isolated nanocrystals. These results demonstrate that SP-SAXS provides a powerful framework for disentangling morphological heterogeneity in nanoparticle formation processes.

cond-mat.mes-hall↗

arXiv2025

Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation

Robots operating in human-centric or hazardous environments must proactively anticipate and mitigate dangers beyond basic obstacle detection. Traditional navigation systems often depend on static maps, which struggle to account for dynamic risks, such as a person emerging from a suddenly opening door. As a result, these systems tend to be reactive rather than anticipatory when handling dynamic hazards. Recent advancements in pre-trained large language models and vision-language models (VLMs) create new opportunities for proactive hazard avoidance. In this work, we propose a zero-shot language-as-cost mapping framework that leverages VLMs to interpret visual scenes, assess potential dynamic risks, and assign risk-aware navigation costs preemptively, enabling robots to anticipate hazards before they materialize. By integrating this language-based cost map with a geometric obstacle map, the robot not only identifies existing obstacles but also anticipates and proactively plans around potential hazards arising from environmental dynamics. Experiments in simulated and diverse dynamic environments demonstrate that the proposed method significantly improves navigation success rates and reduces hazard encounters, compared to reactive baseline planners. Code and supplementary materials are available at https://github.com/Taekmino/LaC.

cs.RO↗

arXiv2025

LaMOuR: Leveraging Language Models for Out-of-Distribution Recovery in Reinforcement Learning

Deep Reinforcement Learning (DRL) has demonstrated strong performance in robotic control but remains susceptible to out-of-distribution (OOD) states, often resulting in unreliable actions and task failure. While previous methods have focused on minimizing or preventing OOD occurrences, they largely neglect recovery once an agent encounters such states. Although the latest research has attempted to address this by guiding agents back to in-distribution states, their reliance on uncertainty estimation hinders scalability in complex environments. To overcome this limitation, we introduce Language Models for Out-of-Distribution Recovery (LaMOuR), which enables recovery learning without relying on uncertainty estimation. LaMOuR generates dense reward codes that guide the agent back to a state where it can successfully perform its original task, leveraging the capabilities of LVLMs in image description, logical reasoning, and code generation. Experimental results show that LaMOuR substantially enhances recovery efficiency across diverse locomotion tasks and even generalizes effectively to complex environments, including humanoid locomotion and mobile manipulation, where existing methods struggle. The code and supplementary materials are available at https://lamour-rl.github.io/.

cs.RO↗

arXiv2025

Direct observation of the exciton polaron by serial femtosecond crystallography on single CsPbBr$_3$ quantum dots

The outstanding opto-electronic properties of lead halide perovskites have been related to the formation of polarons. Nevertheless, the observation of the atomistic deformation brought about by one electron-hole pair in these materials has remained elusive. Here, we measure the diffraction patterns of single CsPbBr$_3$ quantum dots (QDs) with and without resonant excitation in the single exciton limit using serial femtosecond crystallography (SFX). By reconstructing the 3D differential diffraction pattern, we observe small shifts of the Bragg peaks indicative of a crystal-wide deformation field. Building on DFT calculations, we show that these shifts are consistent with the lattice distortion induced by a delocalized electron and a localized hole, forming a mixed large/small exciton polaron. This result creates a clear picture of the polaronic deformation in CsPbBr$_3$ QDs, highlights the exceptional sensitivity of SFX to lattice distortions in few-nanometer crystallites, and establishes an experimental platform for future studies of electron-lattice interactions.

cond-mat.mtrl-sci↗

arXiv2024

E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models

Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation and navigation. However, existing methods are primarily designed for static environments and do not leverage the agent's own experiences to refine its initial plans. Given that real-world environments are inherently stochastic, initial plans based solely on LLMs' general knowledge may fail to achieve their objectives, unlike in static scenarios. To address this limitation, this study introduces the Experience-and-Emotion Map (E2Map), which integrates not only LLM knowledge but also the agent's real-world experiences, drawing inspiration from human emotional responses. The proposed methodology enables one-shot behavior adjustments by updating the E2Map based on the agent's experiences. Our evaluation in stochastic navigation environments, including both simulations and real-world scenarios, demonstrates that the proposed method significantly enhances performance in stochastic environments compared to existing LLM-based approaches. Code and supplementary materials are available at https://e2map.github.io/.

cs.RO↗

arXiv2024

Observation of Aerosolization-induced Morphological Changes in Viral Capsids

Single-stranded RNA viruses co-assemble their capsid with the genome and variations in capsid structures can have significant functional relevance. In particular, viruses need to respond to a dehydrating environment to prevent genomic degradation and remain active upon rehydration. Theoretical work has predicted low-energy buckling transitions in icosahedral capsids which could protect the virus from further dehydration. However, there has been no direct experimental evidence, nor molecular mechanism, for such behaviour. Here we observe this transition using X-ray single particle imaging of MS2 bacteriophages after aerosolization. Using a combination of machine learning tools, we classify hundreds of thousands of single particle diffraction patterns to learn the structural landscape of the capsid morphology as a function of time spent in the aerosol phase. We found a previously unreported compact conformation as well as intermediate structures which suggest an incoherent buckling transition which does not preserve icosahedral symmetry. Finally, we propose a mechanism of this buckling, where a single 19-residue loop is destabilised, leading to the large observed morphology change. Our results provide experimental evidence for a mechanism by which viral capsids protect themselves from dehydration. In the process, these findings also demonstrate the power of single particle X-ray imaging and machine learning methods in studying biomolecular structural dynamics.

q-bio.BM↗

arXiv2024

Development of crystal optics for Multi-Projection X-ray Imaging for synchrotron and XFEL sources

X-ray Multi-Projection Imaging (XMPI) is an emerging technology that allows for the acquisition of millions of 3D images per second in samples opaque to visible light. This breakthrough capability enables volumetric observation of fast stochastic phenomena, which were inaccessible due to the lack of a volumetric X-ray imaging probe with kHz to MHz repetition rate. These include phenomena of industrial and societal relevance such as fractures in solids, propagation of shock waves, laser-based 3D printing, or even fast processes in the biological domain. Indeed, the speed of traditional tomography is limited by the shear forces caused by rotation, to a maximum of 1000 Hz in state-of-the-art tomography. Moreover, the shear forces can disturb the phenomena in observation, in particular with soft samples or sensitive phenomena such as fluid dynamics. XMPI is based on splitting an X-ray beam to generate multiple simultaneous views of the sample, therefore eliminating the need for rotation. The achievable performances depend on the characteristics of the X-ray source, the detection system, and the X-ray optics used to generate the multiple views. The increase in power density of the X-ray sources around the world now enables 3D imaging with sampling speeds in the kilohertz range at synchrotrons and megahertz range at X-ray Free-Electron Lasers (XFELs). Fast detection systems are already available, and 2D MHz imaging was already demonstrated at synchrotron and XFEL. In this work, we explore the properties of X-ray splitter optics and XMPI schemes that are compatible with synchrotron insertion devices and XFEL X-ray beams. We describe two possible schemes designed to permit large samples and complex sample environments. Then, we present experimental proof of the feasibility of MHz-rate XMPI at the European XFEL.

physics.ins-det↗

arXiv2024

MuNES: Multifloor Navigation Including Elevators and Stairs

We propose a scheme called MuNES for single mapping and trajectory planning including elevators and stairs. Optimized multifloor trajectories are important for optimal interfloor movements of robots. However, given two or more options of moving between floors, it is difficult to select the best trajectory because there are no suitable indoor multifloor maps in the existing methods. To solve this problem, MuNES creates a single multifloor map including elevators and stairs by estimating altitude changes based on pressure data. In addition, the proposed method performs floor-based loop detection for faster and more accurate loop closure. The single multifloor map is then voxelized leaving only the parts needed for trajectory planning. An optimal and realistic multifloor trajectory is generated by exploring the voxels using an A* algorithm based on the proposed cost function, which affects realistic factors. We tested this algorithm using data acquired from around a campus and note that a single accurate multifloor map could be created. Furthermore, optimal and realistic multifloor trajectory could be found by selecting the means of motion between floors between elevators and stairs according to factors such as the starting point, ending point, and elevator waiting time. The code and data used in this work are available at https://github.com/donghwijung/MuNES.

cs.RO↗

arXiv2023

SeRO: Self-Supervised Reinforcement Learning for Recovery from Out-of-Distribution Situations

Robotic agents trained using reinforcement learning have the problem of taking unreliable actions in an out-of-distribution (OOD) state. Agents can easily become OOD in real-world environments because it is almost impossible for them to visit and learn the entire state space during training. Unfortunately, unreliable actions do not ensure that agents perform their original tasks successfully. Therefore, agents should be able to recognize whether they are in OOD states and learn how to return to the learned state distribution rather than continue to take unreliable actions. In this study, we propose a novel method for retraining agents to recover from OOD situations in a self-supervised manner when they fall into OOD states. Our in-depth experimental results demonstrate that our method substantially improves the agent's ability to recover from OOD situations in terms of sample efficiency and restoration of the performance for the original tasks. Moreover, we show that our method can retrain the agent to recover from OOD situations even when in-distribution states are difficult to visit through exploration.

cs.LG↗

arXiv2023

Reinforcement Learning of Display Transfer Robots in Glass Flow Control Systems: A Physical Simulation-Based Approach

A flow control system is a critical concept for increasing the production capacity of manufacturing systems. To solve the scheduling optimization problem related to the flow control with the aim of improving productivity, existing methods depend on a heuristic design by domain human experts. Therefore, the methods require correction, monitoring, and verification by using real equipment. As system designs increase in complexity, the monitoring time increases, which decreases the probability of arriving at the optimal design. As an alternative approach to the heuristic design of flow control systems, the use of deep reinforcement learning to solve the scheduling optimization problem has been considered. Although the existing research on reinforcement learning has yielded excellent performance in some areas, the applicability of the results to actual FAB such as display and semiconductor manufacturing processes is not evident so far. To this end, we propose a method to implement a physical simulation environment and devise a feasible flow control system design using a transfer robot in display manufacturing through reinforcement learning. We present a model and parameter setting to build a virtual environment for different display transfer robots, and training methods of reinforcement learning on the environment to obtain an optimal scheduling of glass flow control systems. Its feasibility was verified by using different types of robots used in the actual process.

cs.LG↗

arXiv2023

Megahertz X-ray Multi-projection imaging

X-ray time-resolved tomography is one of the most popular X-ray techniques to probe dynamics in three dimensions (3D). Recent developments in time-resolved tomography opened the possibility of recording kilohertz-rate 3D movies. However, tomography requires rotating the sample with respect to the X-ray beam, which prevents characterization of faster structural dynamics. Here, we present megahertz (MHz) X-ray multi-projection imaging (MHz-XMPI), a technique capable of recording volumetric information at MHz rates and micrometer resolution without scanning the sample. We achieved this by harnessing the unique megahertz pulse structure and intensity of the European X-ray Free-electron Laser with a combination of novel detection and reconstruction approaches that do not require sample rotations. Our approach enables generating multiple X-ray probes that simultaneously record several angular projections for each pulse in the megahertz pulse burst. We provide a proof-of-concept demonstration of the MHz-XMPI technique's capability to probe 4D (3D+time) information on stochastic phenomena and non-reproducible processes three orders of magnitude faster than state-of-the-art time-resolved X-ray tomography, by generating 3D movies of binary droplet collisions. We anticipate that MHz-XMPI will enable in-situ and operando studies that were impossible before, either due to the lack of temporal resolution or because the systems were opaque (such as for MHz imaging based on optical microscopy).

eess.IV↗

arXiv2023

Online dynamic flat-field correction for MHz Microscopy data at European XFEL

The X-ray microscopy technique at the European X-ray free-electron laser (EuXFEL), operating at a MHz repetition rate, provides superior contrast and spatial-temporal resolution compared to typical microscopy techniques at other X-ray sources. In both online visualization and offline data analysis for microscopy experiments, baseline normalization is essential for further processing steps such as phase retrieval and modal decomposition. In addition, access to normalized projections during data acquisition can play an important role in decision-making and improve the quality of the data. However, the stochastic nature of XFEL sources hinders the use of existing flat-flied normalization methods during MHz X-ray microscopy experiments. Here, we present an online dynamic flat-field correction method based on principal component analysis of dynamically evolving flat-field images. The method is used for the normalization of individual X-ray projections and has been implemented as an online analysis tool at the Single Particles, Clusters, and Biomolecules and Serial Femtosecond Crystallography (SPB/SFX) instrument of EuXFEL.

physics.ins-det↗

arXiv2022

Time Series Forecasting with Hypernetworks Generating Parameters in Advance

Forecasting future outcomes from recent time series data is not easy, especially when the future data are different from the past (i.e. time series are under temporal drifts). Existing approaches show limited performances under data drifts, and we identify the main reason: It takes time for a model to collect sufficient training data and adjust its parameters for complicated temporal patterns whenever the underlying dynamics change. To address this issue, we study a new approach; instead of adjusting model parameters (by continuously re-training a model on new data), we build a hypernetwork that generates other target models' parameters expected to perform well on the future data. Therefore, we can adjust the model parameters beforehand (if the hypernetwork is correct). We conduct extensive experiments with 6 target models, 6 baselines, and 4 datasets, and show that our HyperGPA outperforms other baselines.

cs.LG↗

arXiv2022

GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing intentions of surrounding vehicles. This paper proposes a new policy optimization method for safe driving using graph-based interaction-aware constraints. In this framework, the motion prediction and control modules are trained simultaneously while sharing a latent representation that contains a social context. To reflect social interactions, we illustrate the movements of agents in graph form and filter the features with the graph convolution networks. This helps preserve the spatiotemporal locality of adjacent nodes. Furthermore, we create feedback loops to combine these two modules effectively. As a result, this approach encourages the learned controller to be safe from dynamic risks and renders the motion prediction robust to abnormal movements. In the experiment, we set up a navigation scenario comprising various situations with CARLA, an urban driving simulator. The experiments show state-of-the-art performance on navigation strategy and motion prediction compared to the baselines.

cs.RO↗

arXiv2022

On the use of multilayer Laue lenses with X-ray Free Electron Lasers

Multilayer Laue lenses were used for the first time to focus x-rays from an X-ray Free Electron Laser (XFEL). In an experiment, which was performed at the European XFEL, we demonstrated focusing to a spot size of a few tens of nanometers. A series of runs in which the number of pulses per train was increased from 1 to 2, 3, 4, 5, 6, 7, 10, 20 and 30 pulses per train, all with a pulse separation of 3.55 us, was done using the same set of lenses. The increase in the number of pulses per train was accompanied with an increase of x-ray intensity (transmission) from 9% to 92% at 5 pulses per train, and then the transmission was reduced to 23.5 % when the pulses were increased further. The final working condition was 30 pulses per train and 23.5% transmission. Only at this condition we saw that the diffraction efficiency of the MLLs changed over the course of a pulse train, and this variation was reproducible from train to train. We present the procedure to align and characterize these lenses and discuss challenges working with the pulse trains from this unique x-ray source.

physics.acc-ph↗