arXiv subjects

Hyunwoo Jung

Publications and source records attributed to Hyunwoo Jung.

5 recordsLinked to original sources

arXiv2026

DexSynRefine: Synthesizing and Refining Human-Object Interaction Motion for Physically Feasible Dexterous Robot Actions

Learning dexterous manipulation from human-object interaction (HOI) data offers a scalable alternative to robot teleoperation, but HOI demonstrations are typically sparse and purely kinematic, making direct retargeting unreliable under embodiment mismatch and contact-rich dynamics. We present DexSynRefine, a coupled framework that treats HOI data as structured motion priors rather than executable robot actions. DexSynRefine first synthesizes hand-object trajectories conditioned on the task and initial object state using HOI Motion Manifold Flow Primitives (HOI-MMFP), a motion prior for coupled hand-object motion. It then physically grounds them with task-space residual reinforcement learning and adapts execution by inferring missing contact-dynamics context from proprioceptive history. Across five dexterous manipulation tasks, each stage addresses a complementary bottleneck: HOI-MMFP improves trajectory consistency and smoothness, task-space residuals provide the strongest grounding representation among the tested alternatives, and contact-dynamics adaptation enables robust real-world execution. Together, DexSynRefine improves real-world success rates over kinematic retargeting by 50-70~percentage points.

cs.RO↗

arXiv2026

Evolutionary BP+OSD Decoding for Low-Latency Quantum Error Correction

Quantum error correction (QEC) for fault-tolerant quantum computing requires a balanced decoding solution that offers high performance, low complexity, and low latency. However, the de facto standard, belief propagation (BP) combined with ordered statistics decoding (OSD), suffers from excessive iterations in the BP stage and high complexity in the OSD stage. To address these challenges, we propose an evolutionary BP (EBP) decoder optimized via a differential evolution (DE) algorithm. By leveraging the gradient-free nature of DE, we enable end-to-end optimization of the EBP+OSD structure to maximize overall performance. In addition, a multi-objective selection rule is introduced to suppress frequent OSD activation, significantly reducing complexity overhead. Experimental results on surface codes and quantum low-density parity-check (QLDPC) codes demonstrate that EBP plus OSD simultaneously achieves superior decoding performance and substantially lower complexity compared to conventional BP plus OSD, particularly in stringent low-latency regimes.

quant-ph↗

arXiv2023

A degree reduction method for an efficient QUBO formulation for the graph coloring problem

We introduce a new degree reduction method for homogeneous symmetric polynomials on binary variables that generalizes the conventional degree reduction methods on monomials introduced by Freedman and Ishikawa. We also design an degree reduction algorithm for general polynomials on binary variables, simulated on the graph coloring problem for random graphs, and compared the results with the conventional methods. The simulated results show that our new method produces reduced quadratic polynomials that contains less variables than the reduced quadratic polynomials produced by the conventional methods.

quant-ph↗

arXiv2019

Episodic Memory Reader: Learning What to Remember for Question Answering from Streaming Data

We consider a novel question answering (QA) task where the machine needs to read from large streaming data (long documents or videos) without knowing when the questions will be given, which is difficult to solve with existing QA methods due to their lack of scalability. To tackle this problem, we propose a novel end-to-end deep network model for reading comprehension, which we refer to as Episodic Memory Reader (EMR) that sequentially reads the input contexts into an external memory, while replacing memories that are less important for answering \emph{unseen} questions. Specifically, we train an RL agent to replace a memory entry when the memory is full, in order to maximize its QA accuracy at a future timepoint, while encoding the external memory using either the GRU or the Transformer architecture to learn representations that considers relative importance between the memory entries. We validate our model on a synthetic dataset (bAbI) as well as real-world large-scale textual QA (TriviaQA) and video QA (TVQA) datasets, on which it achieves significant improvements over rule-based memory scheduling policies or an RL-based baseline that independently learns the query-specific importance of each memory.

cs.LG↗

arXiv2018

Learning What to Remember: Long-term Episodic Memory Networks for Learning from Streaming Data

Current generation of memory-augmented neural networks has limited scalability as they cannot efficiently process data that are too large to fit in the external memory storage. One example of this is lifelong learning scenario where the model receives unlimited length of data stream as an input which contains vast majority of uninformative entries. We tackle this problem by proposing a memory network fit for long-term lifelong learning scenario, which we refer to as Long-term Episodic Memory Networks (LEMN), that features a RNN-based retention agent that learns to replace less important memory entries based on the retention probability generated on each entry that is learned to identify data instances of generic importance relative to other memory entries, as well as its historical importance. Such learning of retention agent allows our long-term episodic memory network to retain memory entries of generic importance for a given task. We validate our model on a path-finding task as well as synthetic and real question answering tasks, on which our model achieves significant improvements over the memory augmented networks with rule-based memory scheduling as well as an RL-based baseline that does not consider relative or historical importance of the memory.

cs.LG↗