arXiv subjects

Eugene Ku

Publications and source records attributed to Eugene Ku.

5 recordsLinked to original sources

arXiv2026

PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown strong closed-loop performance by iteratively denoising a full-horizon plan, but they remain difficult to certify and can fail catastrophically in rare or out-of-distribution scenarios. To address this challenge, we present PC-Diffuser, a safety augmentation framework that embeds a certifiable, path-consistent barrier-function structure directly into the denoising loop of diffusion planning. The key idea is to make safety an intrinsic part of trajectory generation rather than a post-hoc fix: we enforce forward invariance along the rollout while preserving the diffusion model's intended path geometry. Specifically, PC-Diffuser (i) evaluates collision risk using a capsule-distance barrier function that better reflects vehicle geometry and reduces unnecessary conservativeness, (ii) converts denoised waypoints into dynamically feasible motion under a kinematic bicycle model, and (iii) applies a path-consistent safety filter that eliminates residual constraint violations without geometric distortion, so the corrected plan remains close to the learned distribution. By injecting these safety-consistent corrections at every denoising step and feeding the refined trajectory back into the diffusion process, PC-Diffuser enables iterative, context-aware safeguarding instead of post-hoc repair...

cs.RO↗

arXiv2025

AERIS: Argonne Earth Systems Model for Reliable and Skillful Predictions

Generative machine learning offers new opportunities to better understand complex Earth system dynamics. Recent diffusion-based methods address spectral biases and improve ensemble calibration in weather forecasting compared to deterministic methods, yet have so far proven difficult to scale stably at high resolutions. We introduce AERIS, a 1.3 to 80B parameter pixel-level Swin diffusion transformer to address this gap, and SWiPe, a generalizable technique that composes window parallelism with sequence and pipeline parallelism to shard window-based transformers without added communication cost or increased global batch size. On Aurora (10,080 nodes), AERIS sustains 10.21 ExaFLOPS (mixed precision) and a peak performance of 11.21 ExaFLOPS with $1 \times 1$ patch size on the 0.25{\deg} ERA5 dataset, achieving 95.5% weak scaling efficiency, and 81.6% strong scaling efficiency. AERIS outperforms the IFS ENS and remains stable on seasonal scales to 90 days, highlighting the potential of billion-parameter diffusion models for weather and climate prediction.

cs.LG↗

arXiv2024

Real-time Position Reconstruction for the KamLAND-Zen Experiment using Hardware-AI Co-design

Monolithic liquid scintillator detector technology is the workhorse for detecting neutrinos and exploring new physics. The KamLAND-Zen experiment exemplifies this detector technology and has yielded top results in the quest for neutrinoless double-beta ($0\nu\beta\beta$) decay. To understand the physical events that occur in the detector, experimenters must reconstruct each event's position and energy from the raw data produced. Traditionally, this information has been obtained through a time-consuming offline process, meaning that event position and energy would only be available days after data collection. This work introduces a new pipeline to acquire this information quickly by implementing a machine learning model, PointNet, onto a Field Programmable Gate Array (FPGA). This work outlines a successful demonstration of the entire pipeline, showing that event position and energy information can be reliably and quickly obtained as physics events occur in the detector. This marks one of the first instances of applying hardware-AI co-design in the context of $0\nu\beta\beta$ decay experiments.

hep-ex↗

arXiv2024

Stronger Graph Transformer with Regularized Attention Scores

Graph Neural Networks are notorious for its memory consumption. A recent Transformer-based GNN called Graph Transformer is shown to obtain superior performances when long range dependencies exist. However, combining graph data and Transformer architecture led to a combinationally worse memory issue. We propose a novel version of "edge regularization technique" that alleviates the need for Positional Encoding and ultimately alleviate GT's out of memory issue. We observe that it is not clear whether having an edge regularization on top of positional encoding is helpful. However, it seems evident that applying our edge regularization technique indeed stably improves GT's performance compared to GT without Positional Encoding.

cs.LG↗

arXiv2024

FlyKD: Graph Knowledge Distillation on the Fly with Curriculum Learning

Knowledge Distillation (KD) aims to transfer a more capable teacher model's knowledge to a lighter student model in order to improve the efficiency of the model, making it faster and more deployable. However, the student model's optimization process over the noisy pseudo labels (generated by the teacher model) is tricky and the amount of pseudo labels one can generate is limited due to Out of Memory (OOM) error. In this paper, we propose FlyKD (Knowledge Distillation on the Fly) which enables the generation of virtually unlimited number of pseudo labels, coupled with Curriculum Learning that greatly alleviates the optimization process over the noisy pseudo labels. Empirically, we observe that FlyKD outperforms vanilla KD and the renown Local Structure Preserving Graph Convolutional Network (LSPGCN). Lastly, with the success of Curriculum Learning, we shed light on a new research direction of improving optimization over noisy pseudo labels.

cs.LG↗