arXiv subjects

Jaehong Oh

Publications and source records attributed to Jaehong Oh.

6 recordsLinked to original sources

arXiv2026

Ontology Neural Networks for Topologically Conditioned Constraint Satisfaction

Neuro-symbolic reasoning systems face fundamental challenges in maintaining semantic coherence while satisfying physical and logical constraints. Building upon our previous work on Ontology Neural Networks, we present an enhanced framework that integrates topological conditioning with gradient stabilization mechanisms. The approach employs Forman-Ricci curvature to capture graph topology, Deep Delta Learning for stable rank-one perturbations during constraint projection, and Covariance Matrix Adaptation Evolution Strategy for parameter optimization. Experimental evaluation across multiple problem sizes demonstrates that the method achieves mean energy reduction to 1.15 compared to baseline values of 11.68, with 95 percent success rate in constraint satisfaction tasks. The framework exhibits seed-independent convergence and graceful scaling behavior up to twenty-node problems, suggesting that topological structure can inform gradient-based optimization without sacrificing interpretability or computational efficiency.

cs.LG↗

arXiv2025

Constructive Lyapunov Functions via Topology-Preserving Neural Networks

We prove that ONN achieves order-optimal performance on convergence rate ($\mu \propto \lambda_2$), edge efficiency ($E = N$ for minimal connectivity $k = 2$), and computational complexity ($O(N d^2)$). Empirical validation on 3M-node semantic networks demonstrates 99.75\% improvement over baseline methods, confirming exponential convergence ($\mu = 3.2 \times 10^{-4}$) and topology preservation. ORTSF integration into transformers achieves 14.7\% perplexity reduction and 2.3 faster convergence on WikiText-103. We establish deep connections to optimal control (Hamilton-Jacobi-Bellman), information geometry (Fisher-efficient natural gradient), topological data analysis (persistent homology computation in $O(KN)$), discrete geometry (Ricci flow), and category theory (adjoint functors). This work transforms Massera's abstract existence theorem into a concrete, scalable algorithm with provable guarantees, opening pathways for constructive stability analysis in neural networks, robotics, and distributed systems.

eess.SY↗

arXiv2025

Learning to Assemble the Soma Cube with Legal-Action Masked DQN and Safe ZYZ Regrasp on a Doosan M0609

This paper presents the first comprehensive application of legal-action masked Deep Q-Networks with safe ZYZ regrasp strategies to an underactuated gripper-equipped 6-DOF collaborative robot for autonomous Soma cube assembly learning. Our approach represents the first systematic integration of constraint-aware reinforcement learning with singularity-safe motion planning on a Doosan M0609 collaborative robot. We address critical challenges in robotic manipulation: combinatorial action space explosion, unsafe motion planning, and systematic assembly strategy learning. Our system integrates a legal-action masked DQN with hierarchical architecture that decomposes Q-function estimation into orientation and position components, reducing computational complexity from $O(3,132)$ to $O(116) + O(27)$ while maintaining solution completeness. The robot-friendly reward function encourages ground-first, vertically accessible assembly sequences aligned with manipulation constraints. Curriculum learning across three progressive difficulty levels (2-piece, 3-piece, 7-piece) achieves remarkable training efficiency: 100\% success rate for Level 1 within 500 episodes, 92.9\% for Level 2, and 39.9\% for Level 3 over 105,300 total training episodes.

cs.RO↗

arXiv2025

Ontology Neural Network and ORTSF: A Framework for Topological Reasoning and Delay-Robust Control

The advancement of autonomous robotic systems has led to impressive capabilities in perception, localization, mapping, and control. Yet, a fundamental gap remains: existing frameworks excel at geometric reasoning and dynamic stability but fall short in representing and preserving relational semantics, contextual reasoning, and cognitive transparency essential for collaboration in dynamic, human-centric environments. This paper introduces a unified architecture comprising the Ontology Neural Network (ONN) and the Ontological Real-Time Semantic Fabric (ORTSF) to address this gap. The ONN formalizes relational semantic reasoning as a dynamic topological process. By embedding Forman-Ricci curvature, persistent homology, and semantic tensor structures within a unified loss formulation, ONN ensures that relational integrity and topological coherence are preserved as scenes evolve over time. The ORTSF transforms reasoning traces into actionable control commands while compensating for system delays. It integrates predictive and delay-aware operators that ensure phase margin preservation and continuity of control signals, even under significant latency conditions. Empirical studies demonstrate the ONN + ORTSF framework's ability to unify semantic cognition and robust control, providing a mathematically principled and practically viable solution for cognitive robotics.

cs.RO↗

arXiv2025

Cognitive Synergy Architecture: SEGO for Human-Centric Collaborative Robots

This paper presents SEGO (Semantic Graph Ontology), a cognitive mapping architecture designed to integrate geometric perception, semantic reasoning, and explanation generation into a unified framework for human-centric collaborative robotics. SEGO constructs dynamic cognitive scene graphs that represent not only the spatial configuration of the environment but also the semantic relations and ontological consistency among detected objects. The architecture seamlessly combines SLAM-based localization, deep-learning-based object detection and tracking, and ontology-driven reasoning to enable real-time, semantically coherent mapping.

cs.RO↗

arXiv2025

Towards Cognitive Collaborative Robots: Semantic-Level Integration and Explainable Control for Human-Centric Cooperation

This is a preprint of a review article that has not yet undergone peer review. The content is intended for early dissemination and academic discussion. The final version may differ upon formal publication. As the Fourth Industrial Revolution reshapes industrial paradigms, human-robot collaboration (HRC) has transitioned from a desirable capability to an operational necessity. In response, collaborative robots (Cobots) are evolving beyond repetitive tasks toward adaptive, semantically informed interaction with humans and environments. This paper surveys five foundational pillars enabling this transformation: semantic-level perception, cognitive action planning, explainable learning and control, safety-aware motion design, and multimodal human intention recognition. We examine the role of semantic mapping in transforming spatial data into meaningful context, and explore cognitive planning frameworks that leverage this context for goal-driven decision-making. Additionally, we analyze explainable reinforcement learning methods, including policy distillation and attention mechanisms, which enhance interpretability and trust. Safety is addressed through force-adaptive control and risk-aware trajectory planning, while seamless human interaction is supported via gaze and gesture-based intent recognition. Despite these advancements, challenges such as perception-action disjunction, real-time explainability limitations, and incomplete human trust persist. To address these, we propose a unified Cognitive Synergy Architecture, integrating all modules into a cohesive framework for truly human-centric cobot collaboration.

cs.RO↗