arXiv subjects

Dongjun Lee

Publications and source records attributed to Dongjun Lee.

At least 37 records · Page 2Linked to original sources

arXiv2024

Narrow Passage Path Planning using Collision Constraint Interpolation

Narrow passage path planning is a prevalent problem from industrial to household sites, often facing difficulties in finding feasible paths or requiring excessive computational resources. Given that deep penetration into the environment can cause optimization failure, we propose a framework to ensure feasibility throughout the process using a series of subproblems tailored for narrow passage problem. We begin by decomposing the environment into convex objects and initializing collision constraints with a subset of these objects. By continuously interpolating the collision constraints through the process of sequentially introducing remaining objects, our proposed framework generates subproblems that guide the optimization toward solving the narrow passage problem. Several examples are presented to demonstrate how the proposed framework addresses narrow passage path planning problems.

cs.RO↗

arXiv2024

DiffInject: Revisiting Debias via Synthetic Data Generation using Diffusion-based Style Injection

Dataset bias is a significant challenge in machine learning, where specific attributes, such as texture or color of the images are unintentionally learned resulting in detrimental performance. To address this, previous efforts have focused on debiasing models either by developing novel debiasing algorithms or by generating synthetic data to mitigate the prevalent dataset biases. However, generative approaches to date have largely relied on using bias-specific samples from the dataset, which are typically too scarce. In this work, we propose, DiffInject, a straightforward yet powerful method to augment synthetic bias-conflict samples using a pretrained diffusion model. This approach significantly advances the use of diffusion models for debiasing purposes by manipulating the latent space. Our framework does not require any explicit knowledge of the bias types or labelling, making it a fully unsupervised setting for debiasing. Our methodology demonstrates substantial result in effectively reducing dataset bias.

cs.CV↗

arXiv2024

MCS-SQL: Leveraging Multiple Prompts and Multiple-Choice Selection For Text-to-SQL Generation

Recent advancements in large language models (LLMs) have enabled in-context learning (ICL)-based methods that significantly outperform fine-tuning approaches for text-to-SQL tasks. However, their performance is still considerably lower than that of human experts on benchmarks that include complex schemas and queries, such as BIRD. This study considers the sensitivity of LLMs to the prompts and introduces a novel approach that leverages multiple prompts to explore a broader search space for possible answers and effectively aggregate them. Specifically, we robustly refine the database schema through schema linking using multiple prompts. Thereafter, we generate various candidate SQL queries based on the refined schema and diverse prompts. Finally, the candidate queries are filtered based on their confidence scores, and the optimal query is obtained through a multiple-choice selection that is presented to the LLM. When evaluated on the BIRD and Spider benchmarks, the proposed method achieved execution accuracies of 65.5\% and 89.6\%, respectively, significantly outperforming previous ICL-based methods. Moreover, we established a new SOTA performance on the BIRD in terms of both the accuracy and efficiency of the generated queries.

cs.CL↗

arXiv2023

Read-only Prompt Optimization for Vision-Language Few-shot Learning

In recent years, prompt tuning has proven effective in adapting pre-trained vision-language models to downstream tasks. These methods aim to adapt the pre-trained models by introducing learnable prompts while keeping pre-trained weights frozen. However, learnable prompts can affect the internal representation within the self-attention module, which may negatively impact performance variance and generalization, especially in data-deficient settings. To address these issues, we propose a novel approach, Read-only Prompt Optimization (RPO). RPO leverages masked attention to prevent the internal representation shift in the pre-trained model. Further, to facilitate the optimization of RPO, the read-only prompts are initialized based on special tokens of the pre-trained model. Our extensive experiments demonstrate that RPO outperforms CLIP and CoCoOp in base-to-new generalization and domain generalization while displaying better robustness. Also, the proposed method achieves better generalization on extremely data-deficient settings, while improving parameter efficiency and computational overhead. Code is available at https://github.com/mlvlab/RPO.

cs.CV↗

arXiv2023

Hierarchical Contrastive Learning with Multiple Augmentation for Sequential Recommendation

Sequential recommendation addresses the issue of preference drift by predicting the next item based on the user's previous behaviors. Recently, a promising approach using contrastive learning has emerged, demonstrating its effectiveness in recommending items under sparse user-item interactions. Significantly, the effectiveness of combinations of various augmentation methods has been demonstrated in different domains, particularly in computer vision. However, when it comes to augmentation within a contrastive learning framework in sequential recommendation, previous research has only focused on limited conditions and simple structures. Thus, it is still possible to extend existing approaches to boost the effects of augmentation methods by using progressed structures with the combinations of multiple augmentation methods. In this work, we propose a novel framework called Hierarchical Contrastive Learning with Multiple Augmentation for Sequential Recommendation(HCLRec) to overcome the aforementioned limitation. Our framework leverages existing augmentation methods hierarchically to improve performance. By combining augmentation methods continuously, we generate low-level and high-level view pairs. We employ a Transformers-based model to encode the input sequence effectively. Furthermore, we introduce additional blocks consisting of Transformers and position-wise feed-forward network(PFFN) layers to learn the invariance of the original sequences from hierarchically augmented views. We pass the input sequence to subsequent layers based on the number of increment levels applied to the views to handle various augmentation levels. Within each layer, we compute contrastive loss between pairs of views at the same level. Extensive experiments demonstrate that our proposed method outperforms state-of-the-art approaches and that HCLRec is robust even when faced with the problem of sparse interaction.

cs.IR↗

arXiv2023

A Learning-Based Estimation and Control Framework for Contact-Intensive Tight-Tolerance Tasks

We present a two-stage framework that integrates a learning-based estimator and a controller, designed to address contact-intensive tasks. The estimator leverages a Bayesian particle filter with a mixture density network (MDN) structure, effectively handling multi-modal issues arising from contact information. The controller combines a self-supervised and reinforcement learning (RL) approach, strategically dividing the low-level admittance controller's parameters into labelable and non-labelable categories, which are then trained accordingly. To further enhance accuracy and generalization performance, a transformer model is incorporated into the self-supervised learning component. The proposed framework is evaluated on the bolting task using an accurate real-time simulator and successfully transferred to an experimental environment. More visualization results are available on our project website: https://sites.google.com/view/2stagecitt

cs.RO↗

arXiv2023

Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily adopt sampling-based or end-to-end learning methods, which yet often suffer from the issues of efficiency and generalizability. In this paper, we propose a novel differentiable framework for this uncertain pose estimation during contact, so that it can be solved in an efficient and accurate manner with gradient-based solver. To achieve this, we introduce a new geometric definition that is highly adaptable and capable of providing differentiable contact features. Then we approach the problem from a bi-level perspective and utilize the gradient of these contact features along with differentiable optimization to efficiently solve for the uncertain pose. Several scenarios are implemented to demonstrate how the proposed framework can improve existing methods.

cs.RO↗

arXiv2023

Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM

In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based structure and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom systems is a large number of coupled constraints and large-sized matrices. To address this challenge, we first split the multibody into several subsystems and reformulate the dynamics equation into a subsystem perspective based on the structure of their interconnection. Then we utilize ADMM with our novel subsystem-based variable splitting scheme to solve the equation, which allows parallelizable and modular architecture. The resulting algorithm is fast, scalable, versatile, and converges well while maintaining solution consistency. Several illustrative examples are implemented with performance evaluation results showing advantages over other state-of-the-art algorithms.

cs.RO↗

arXiv2022

A Multi-Task Benchmark for Korean Legal Language Understanding and Judgement Prediction

The recent advances of deep learning have dramatically changed how machine learning, especially in the domain of natural language processing, can be applied to legal domain. However, this shift to the data-driven approaches calls for larger and more diverse datasets, which are nevertheless still small in number, especially in non-English languages. Here we present the first large-scale benchmark of Korean legal AI datasets, LBOX OPEN, that consists of one legal corpus, two classification tasks, two legal judgement prediction (LJP) tasks, and one summarization task. The legal corpus consists of 147k Korean precedents (259M tokens), of which 63k are sentenced in last 4 years and 96k are from the first and the second level courts in which factual issues are reviewed. The two classification tasks are case names (11.3k) and statutes (2.8k) prediction from the factual description of individual cases. The LJP tasks consist of (1) 10.5k criminal examples where the model is asked to predict fine amount, imprisonment with labor, and imprisonment without labor ranges for the given facts, and (2) 4.7k civil examples where the inputs are facts and claim for relief and outputs are the degrees of claim acceptance. The summarization task consists of the Supreme Court precedents and the corresponding summaries (20k). We also release realistic variants of the datasets by extending the domain (1) to infrequent case categories in case name (31k examples) and statute (17.7k) classification tasks, and (2) to long input sequences in the summarization task (51k). Finally, we release LCUBE, the first Korean legal language model trained on the legal corpus from this study. Given the uniqueness of the Law of South Korea and the diversity of the legal tasks covered in this work, we believe that LBOX OPEN contributes to the multilinguality of global legal research. LBOX OPEN and LCUBE will be publicly available.

cs.CL↗

arXiv2022

Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization

We propose a novel multibody dynamics simulation framework that can efficiently deal with large-dimensionality and complementarity multi-contact conditions. Typical contact simulation approaches perform contact impulse-level fixed-point iteration (IL-FPI), which has high time-complexity from large-size matrix inversion and multiplication, as well as susceptibility to ill-conditioned contact situations. To circumvent this, we propose a novel framework based on velocity-level fixed-point iteration (VL-FPI), which, by utilizing a certain surrogate dynamics and contact nodalization (with virtual nodes), can achieve not only inter-contact decoupling but also their inter-axes decoupling (i.e., contact diagonalization). This then enables us to one-shot/parallel-solve the contact problem during each VL-FPI iteration-loop, while the surrogate dynamics structure allows us to circumvent large-size/dense matrix inversion/multiplication, thereby, significantly speeding up the simulation time with improved convergence property. We theoretically show that the solution of our framework is consistent with that of the original problem and, further, elucidate mathematical conditions for the convergence of our proposed solver. Performance and properties of our proposed simulation framework are also demonstrated and experimentally-validated for various large-dimensional/multi-contact scenarios including deformable objects.

cs.RO↗

arXiv2022

A Custom IC Layout Generation Engine Based on Dynamic Templates and Grids

This paper presents an automatic layout generation framework in advanced CMOS technologies. The framework extends the template-and-grid-based layout generation methodology with the following additional techniques applied to produce optimal layouts more effectively. First, layout templates and grids are dynamically created and adjusted during runtime to serve various structural, functional, and design requirements. Virtual instances support the dynamic template-and-grid-based layout generation process. The framework also implements various post-processing functions to handle process-specific requirements efficiently. The post-processing functions include cut/dummy pattern generation and multiple-patterning adjustment. The generator description capability is enhanced with circular grid indexing/slicing and conditional conversion operators. The layout generation framework is applied to various design examples and generates DRC/LVS clean layouts automatically in multiple CMOS technologies.

eess.SP↗

arXiv2022

Fast and Accurate Data-Driven Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly Tasks

We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain variable-input network, which is explicitly trained for simulation accuracy (with real experimental data) and able to accommodate complex/non-convex object shapes; 2) contact force solving, which precisely/robustly enforces physics of contact (i.e., no penetration, Coulomb friction, maximum energy dissipation) with contact mechanics of contact nodes augmented with that of their object; 3) contact detection with a neural network, which is parallelized for each contact point, thus, can be computed very quickly even for complex shape objects with no exhaust pair-wise test; and 4) time integration with PMI (passive mid-point integration), whose discrete-time passivity improves overall simulation accuracy, stability, and speed. We then implement our proposed framework for two widely-encountered/benchmarked contact-intensive tight-tolerance tasks, namely, peg-in-hole assembly and bolt-nut assembly, and validate its speed and accuracy against real experimental data. It is worthwhile to mention that our proposed simulation framework is applicable to other general contact-intensive tight-tolerance robotic assembly tasks as well. We also compare its performance with other physics engines and manifest its robustness via haptic rendering of virtual bolting task.

cs.RO↗

arXiv2021

Learning multiple gaits of quadruped robot using hierarchical reinforcement learning

There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait regardless of the command velocity. This could be a suboptimal solution considering the existence of optimal gait according to the velocity for quadruped animals. In this work, we propose a hierarchical controller for quadruped robot that could generate multiple gaits (i.e. pace, trot, bound) while tracking velocity command. Our controller is composed of two policies, each working as a central pattern generator and local feedback controller, and trained with hierarchical reinforcement learning. Experiment results show 1) the existence of optimal gait for specific velocity range 2) the efficiency of our hierarchical controller compared to a controller composed of a single policy, which usually shows a single gait. Codes are publicly available.

cs.RO↗

arXiv2021

KLUE: Korean Language Understanding Evaluation

We introduce Korean Language Understanding Evaluation (KLUE) benchmark. KLUE is a collection of 8 Korean natural language understanding (NLU) tasks, including Topic Classification, SemanticTextual Similarity, Natural Language Inference, Named Entity Recognition, Relation Extraction, Dependency Parsing, Machine Reading Comprehension, and Dialogue State Tracking. We build all of the tasks from scratch from diverse source corpora while respecting copyrights, to ensure accessibility for anyone without any restrictions. With ethical considerations in mind, we carefully design annotation protocols. Along with the benchmark tasks and data, we provide suitable evaluation metrics and fine-tuning recipes for pretrained language models for each task. We furthermore release the pretrained language models (PLM), KLUE-BERT and KLUE-RoBERTa, to help reproducing baseline models on KLUE and thereby facilitate future research. We make a few interesting observations from the preliminary experiments using the proposed KLUE benchmark suite, already demonstrating the usefulness of this new benchmark suite. First, we find KLUE-RoBERTa-large outperforms other baselines, including multilingual PLMs and existing open-source Korean PLMs. Second, we see minimal degradation in performance even when we replace personally identifiable information from the pretraining corpus, suggesting that privacy and NLU capability are not at odds with each other. Lastly, we find that using BPE tokenization in combination with morpheme-level pre-tokenization is effective in tasks involving morpheme-level tagging, detection and generation. In addition to accelerating Korean NLP research, our comprehensive documentation on creating KLUE will facilitate creating similar resources for other languages in the future. KLUE is available at https://klue-benchmark.com.

cs.CL↗

arXiv2021

Intent-based Product Collections for E-commerce using Pretrained Language Models

Building a shopping product collection has been primarily a human job. With the manual efforts of craftsmanship, experts collect related but diverse products with common shopping intent that are effective when displayed together, e.g., backpacks, laptop bags, and messenger bags for freshman bag gifts. Automatically constructing a collection requires an ML system to learn a complex relationship between the customer's intent and the product's attributes. However, there have been challenging points, such as 1) long and complicated intent sentences, 2) rich and diverse product attributes, and 3) a huge semantic gap between them, making the problem difficult. In this paper, we use a pretrained language model (PLM) that leverages textual attributes of web-scale products to make intent-based product collections. Specifically, we train a BERT with triplet loss by setting an intent sentence to an anchor and corresponding products to positive examples. Also, we improve the performance of the model by search-based negative sampling and category-wise positive pair augmentation. Our model significantly outperforms the search-based baseline model for intent-based product matching in offline evaluations. Furthermore, online experimental results on our e-commerce platform show that the PLM-based method can construct collections of products with increased CTR, CVR, and order-diversity compared to expert-crafted collections.

cs.IR↗

arXiv2021

IntelliCAT: Intelligent Machine Translation Post-Editing with Quality Estimation and Translation Suggestion

We present IntelliCAT, an interactive translation interface with neural models that streamline the post-editing process on machine translation output. We leverage two quality estimation (QE) models at different granularities: sentence-level QE, to predict the quality of each machine-translated sentence, and word-level QE, to locate the parts of the machine-translated sentence that need correction. Additionally, we introduce a novel translation suggestion model conditioned on both the left and right contexts, providing alternatives for specific words or phrases for correction. Finally, with word alignments, IntelliCAT automatically preserves the original document's styles in the translated document. The experimental results show that post-editing based on the proposed QE and translation suggestions can significantly improve translation quality. Furthermore, a user study reveals that three features provided in IntelliCAT significantly accelerate the post-editing task, achieving a 52.9\% speedup in translation time compared to translating from scratch. The interface is publicly available at https://intellicat.beringlab.com/.

cs.CL↗

arXiv2019

Clause-Wise and Recursive Decoding for Complex and Cross-Domain Text-to-SQL Generation

Most deep learning approaches for text-to-SQL generation are limited to the WikiSQL dataset, which only supports very simple queries over a single table. We focus on the Spider dataset, a complex and cross-domain text-to-SQL task, which includes complex queries over multiple tables. In this paper, we propose a SQL clause-wise decoding neural architecture with a self-attention based database schema encoder to address the Spider task. Each of the clause-specific decoders consists of a set of sub-modules, which is defined by the syntax of each clause. Additionally, our model works recursively to support nested queries. When evaluated on the Spider dataset, our approach achieves 4.6\% and 9.8\% accuracy gain in the test and dev sets, respectively. In addition, we show that our model is significantly more effective at predicting complex and nested queries than previous work.

cs.CL↗

arXiv2019

One-Shot Learning for Text-to-SQL Generation

Most deep learning approaches for text-to-SQL generation are limited to the WikiSQL dataset, which only supports very simple queries. Recently, template-based and sequence-to-sequence approaches were proposed to support complex queries, which contain join queries, nested queries, and other types. However, Finegan-Dollak et al. (2018) demonstrated that both the approaches lack the ability to generate SQL of unseen templates. In this paper, we propose a template-based one-shot learning model for the text-to-SQL generation so that the model can generate SQL of an untrained template based on a single example. First, we classify the SQL template using the Matching Network that is augmented by our novel architecture Candidate Search Network. Then, we fill the variable slots in the predicted template using the Pointer Network. We show that our model outperforms state-of-the-art approaches for various text-to-SQL datasets in two aspects: 1) the SQL generation accuracy for the trained templates, and 2) the adaptability to the unseen SQL templates based on a single example without any additional training.

cs.CL↗