arXiv subjects

Jaehoon Sim

Publications and source records attributed to Jaehoon Sim.

3 recordsLinked to original sources

arXiv2026

Scalable No-Stockout Charging Scheduling for Battery Swapping Under Time-of-Use Prices

A battery-swapping station must provide every arriving vehicle with a charged battery while minimizing the time-of-use cost of recharging returned units. Coordinating heterogeneous compatibility, vehicle-specific return times, and finite charger capacity requires service-aware recharge decisions across the planning horizon. We formulate a per-battery mixed-integer linear program that captures these operational features under a hard no-stockout constraint and derive a provably equivalent reduced form with fewer explicit binary variables. In the synthetic scaling study, a price-guided battery-path heuristic returned a full-service schedule for every instance; regime-level median solve times ranged from 0.24 to 8.0 seconds. Its median cost premiums were 7-8% over certified reference costs for small- and medium-scale instances, and its certified ex post optimality-gap upper bounds were 9-12% for large- and extra-large-scale instances. For each operational baseline, the certified reference schedules reduced charging-energy cost by 50-60% on instances that the baseline fully served and for which a certified reference was available. In a 30-day replay of 1,002 swaps recorded at a commercial station, the reduced-model and heuristic rolling controllers served every swap and reduced charging-energy cost by approximately 50% relative to immediate charging.

cs.CE↗

arXiv2026

Distributional Stability of Tangent-Linearized Gaussian Inference on Smooth Manifolds

Gaussian inference on smooth manifolds is central to robotics, but exact marginalization and conditioning are generally non-Gaussian and geometry-dependent. We study tangent-linearized Gaussian inference and derive explicit non-asymptotic $W_2$ stability bounds for projection marginalization and surface-measure conditioning. The bounds separate local second-order geometric distortion from nonlocal tail leakage and, for Gaussian inputs, yield closed-form diagnostics from $(\mu,\Sigma)$ and curvature/reach surrogates. Circle and planar-pushing experiments validate the predicted calibration transition near $\sqrt{\|\Sigma\|_{\mathrm{op}}}/R\approx 1/6$ and indicate that normal-direction uncertainty is the dominant failure mode when locality breaks. These diagnostics provide practical triggers for switching from single-chart linearization to multi-chart or sample-based manifold inference. Code and Jupyter notebooks are available at https://github.com/mikigom/StabilityTLGaussian.

cs.RO↗

arXiv2025

You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimation

Accurately recovering the full 9-DoF pose of unseen instances within specific categories from a single RGB image remains a core challenge for robotics and automation. Most existing solutions still rely on pseudo-depth, CAD models, or multi-stage cascades that separate 2D detection from pose estimation. Motivated by the need for a simpler, RGB-only alternative that learns directly at the category level, we revisit a longstanding question: Can object detection and 9-DoF pose estimation be unified with high performance, without any additional data? We show that they can with our method, YOPO, a single-stage, query-based framework that treats category-level 9-DoF estimation as a natural extension of 2D detection. YOPO augments a transformer detector with a lightweight pose head, a bounding-box-conditioned translation module, and a 6D-aware Hungarian matching cost. The model is trained end-to-end only with RGB images and category-level pose labels. Despite its minimalist design, YOPO sets a new state of the art on three benchmarks. On the REAL275 dataset, it achieves 79.6% $\rm{IoU}_{50}$ and 54.1% under the $10^\circ$$10{\rm{cm}}$ metric, surpassing prior RGB-only methods and closing much of the gap to RGB-D systems. The code, models, and additional qualitative results can be found on https://mikigom.github.io/YOPO-project-page.

cs.CV↗