arXiv subjects

Jiwon Choi

Publications and source records attributed to Jiwon Choi.

13 recordsLinked to original sources

arXiv2026

RadLoc: Radar-based 3-DoF Global Localization via Fast, Robust, and Lightweight Spatial Descriptor Across Diverse Environmental Scenarios

While global localization using spinning radar has gained attention for its robustness to adverse weather and challenging environments, many studies have focused on individual components such as place recognition or pose estimation. In this paper, we take a holistic view of radar sensor-based global localization and present RadLoc, a fast, robust, and lightweight end-to-end pipeline from place recognition to 3-DoF pose estimation. RadLoc accelerates pre-processing using 1D CA-CFAR filtering and leverages the near-range dominance in spinning radar images to design a compact descriptor and an efficient hierarchical coarse-to-fine retrieval strategy. Moreover, coupled with phase correlation-based 3-DoF pose estimation, it forms a versatile global localization module applicable to SLAM and multi-session SLAM systems. Extensive experiments on 15 sequences across 5 datasets demonstrate that RadLoc achieves robust performance while maintaining the smallest descriptor size and fastest retrieval time among state-of-the-art approaches. The supplementary materials are available at https://sparolab.github.io/research/radloc/.

cs.RO↗

arXiv2026

Plaid-Like Spin Splitting and Chirality of Magnon Bands in Antiferromagnetic MnTe$_2$

Altermagnets constitute an emerging class of magnetic materials that combine compensated antiferromagnetic order with spin-split excitations arising from crystalline symmetries. Despite strong theoretical interest, their experimental identification remains challenging. Here, we demonstrate that helicity- and angle-resolved Raman scattering measurements reveal reduced rotational symmetries of magnons and a pronounced imbalance between left- and right-circular polarization channels, indicating momentum-dependent magnon handedness. First-principles DFT+$U$ calculations combined with linear spin-wave theory uncover a characteristic plaid-like spin-splitting structure in momentum space. The resulting magnon spin textures are dictated by the unconventional sublattice symmetries of MnTe$_2$ and closely emulate those of altermagnetic electronic bands. Our work provides evidence of chiral spin-wave excitations unique to this non-coplanar antiferromagnet.

cond-mat.str-el↗

arXiv2026

Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios

By maintaining global consistency across robot teams, multi-robot LiDAR map merging enables faster exploration and efficient area coverage. However, map merging requires exchanging massive sensor data between the server and robots, making communication the bottleneck, especially in communication-constrained environments. Therefore, we present Commerge, a communication-efficient map merging framework that achieves bandwidth reduction through graph-theoretic selective data exchange. By doing so, our Commerge reduces inter-robot communication by up to 5,000x while maintaining alignment accuracy. Our key insight is that only a small subset of carefully selected scans is sufficient for robust map merging. We formulate this as a three-stage cascaded optimization problem on an exchange graph, where vertices represent robot keyframes and edges denote candidate inter-robot loops. Through three cascade stages, we select a sequentially overlapped, balanced-transmission-cost, and geometrically-perceptually optimal scan subset that preserves alignment quality while reducing communication. Unlike existing approaches that either transmit whole scans, which require GB-scale data exchange, or employ naive downsampling, our approach exchanges only MB-scale data while achieving comparable alignment accuracy. Extensive evaluation on five public datasets and four in-house datasets covering cave, planetary-analog, indoor, and outdoor campus environments shows up to 99.98% reduction in data exchange (e.g., from 7,000MB to 1.3MB on the HeLiPR dataset), while maintaining alignment performance across embedded to desktop platforms. The supplementary materials are available at https://sparolab.github.io/research/commerge.

cs.RO↗

arXiv2026

Distributional Alignment as a Criterion for Designing Task Vectors in In-Context Learning

In-context learning (ICL) allows large language models (LLMs) to adapt to new tasks through demonstrations, yet it suffers from escalating inference costs as context length increases. While task vectors offer a promising alternative by compressing demonstrations into compact hidden-state representations, their quality has been evaluated only through downstream task accuracy. This indirect criterion provides limited insight into how to design more effective task vector extraction methods. In this paper, we posit that inference using task vectors should align their predictive distribution with that of ICL. To quantify this, we introduce $d_{\text{NTP}}$, a metric that measures the discrepancy in next-token probabilities between task vector-based and ICL-based inference. Our empirical analysis reveals that $d_{\text{NTP}}$ serves as a performance proxy, exhibiting a strong negative correlation with downstream accuracy. Motivated by this, we develop Linear Task Vector (LTV), a method designed to minimize $d_{\text{NTP}}$ via a closed-form linear mapping that estimates demonstration effects through regression. Across eight classification benchmarks and five LLMs, LTV consistently outperforms existing task vector baselines, improving average accuracy by 9.2\% while reducing inference latency. We further show that LTV outperforms the baselines on regression tasks. Moreover, we investigate the transferability of LTV across different model scales; an aspect that has remained nascent in task vector research. Specifically, we empirically show that task vectors from a larger model can enhance a smaller model's performance by 6.4\%, suggesting a new utility for extracted task representations.

cs.CL↗

arXiv2026

Drifting Field Policy: A One-Step Generative Policy via Wasserstein Gradient Flow

We propose Drifting Field Policy (DFP), a non-ODE one-step generative policy built on the drifting model paradigm. We frame the policy update as a reverse-KL Wasserstein-2 gradient flow toward a soft target policy, so that each DFP update corresponds to a gradient step in probability space. By construction, this gradient is decomposed into an ascent toward higher action-value regions and a score matching with the anchor policy as a trust region. We further derive a simple, tractable surrogate of the otherwise intractable update loss, akin to behavior cloning on top-K critic-selected actions. We find empirically that this mechanism uniquely benefits the drifting backbone owing to its non-ODE parameterization. With one-step inference, DFP achieves state-of-the-art performance on several manipulation tasks across Robomimic and OGBench, outperforming ODE-based policies.

cs.LG↗

arXiv2026

BRITE: A Benchmark for Reliable and Interpretable T2V Evaluation on Implausible Scenarios

The rapid advancement of photorealistic Text-to-Video (T2V) generation brings in an urgent need for up-to-date evaluation methods. Existing benchmarks largely overlooked implausible scenarios and do not measure audio-visual alignment. We introduce BRITE, the first framework that unifies (1) implausible prompting, (2) fine-grained assessment of audio-visual consistency, and (3) QA-based interpretable evaluation into a comprehensive T2V benchmark. Unlike fully automated Multimodal LLM-based pipelines, which are prone to hallucination and prompt ambiguity, BRITE guarantees reliability through a rigorous human-in-the-loop protocol for benchmark creation. Evaluating five state-of-the-art models (Sora 2, Veo 3.1, Runway Gen4.5, Pixverse V5.5, and Qwen3Max), we reveal a critical performance gap: while models excel at static object composition, they exhibit significant degradation in object-action binding and audio-visual synchronization. Our framework offers the community a reliable, interpretable benchmark and evaluation framework that can detect and locate limitations in the next generation of T2V models, especially for off-manifold prompts

cs.MM↗

arXiv2026

KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference

Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to remarkable progress in inertial odometry. However, the heavy reliance on ground truth data during training fundamentally limits scalability and generalization to unseen and diverse environments. We propose KISS-IMU, a novel self-supervised inertial odometry framework that eliminates ground truth dependency by leveraging simple LiDAR-based ICP registration and pose graph optimization as a supervisory signal. Our approach embodies two key principles: keeping the IMU stable through motion-aware balanced training and keeping the IMU strong through uncertainty-driven adaptive weighting during inference. To evaluate performance across diverse motion patterns and scenarios, we conducted comprehensive experiments on various real-world platforms, including quadruped robots. Importantly, we train only the IMU network in a self-supervised manner, with LiDAR serving solely as a lightweight supervisory signal rather than requiring additional learnable processes. This design enables the framework to ensure robustness without relying on joint multi-modal learning or ground truth supervision. The supplementary materials are available at https://sparolab.github.io/research/kiss_imu.

cs.RO↗

arXiv2025

Flocking with random non-reciprocal interactions

Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena, ranging from parallel and antiparallel flocking over run-and-chase behavior to chiral phases. Whether flocking or any of these collective phenomena can survive in the presence of a large number of species with random nonreciprocal interactions remained elusive so far. As a first step here, the extreme case of a Vicsek-like model with fully random nonreciprocal interactions between the individual particles is considered. For infinite-range interaction, as soon as the alignment bias is of the same order as the random interactions, the ordered flocking phase occurs, but deep within this phase, the random nonreciprocal interactions can still support global chiral and oscillating states in which the collective movement direction rotates or oscillates slowly. For short-range interactions, moreover, even without alignment bias self-organized cliques emerge, in which medium-size clusters of particles that have predominantly aligning interactions meet accidentally and stay together for macroscopic times. These results may serve as a starting point for the study of multispecies flocking models with nonrandom but complex nonreciprocal interspecies interactions.

cond-mat.stat-mech↗

arXiv2025

SKiD-SLAM: Robust, Lightweight, and Distributed Multi-Robot LiDAR SLAM in Resource-Constrained Field Environments

Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in field environments: one is resource limitation, and the other is inter/intra-robot association. The resource limitation issue arises when the data size exceeds the processing capacity of the network or memory, especially when utilizing communication systems or onboard computers in the field. The inter/intra-robot association issue occurs due to the narrow convergence region of ICP under large viewpoint differences, triggering many false positive loops and ultimately resulting in an inconsistent global map for multi-robot systems. To tackle these problems, we propose a distributed LiDAR SLAM framework designed for versatile field applications, called SKiD-SLAM. Extending our previous work that solely focused on lightweight place recognition and fast and robust global registration, we present a multi-robot mapping framework that focuses on robust and lightweight inter-robot loop closure in distributed LiDAR SLAM. Through various environmental experiments, we demonstrate that our method is more robust and lightweight compared to other state-of-the-art distributed SLAM approaches, overcoming resource limitation and inter/intra-robot association issues. Also, we validated the field applicability of our approach through mapping experiments in real-world planetary emulation terrain and cave environments, which are in-house datasets. Our code will be available at https://sparolab.github.io/research/skid_slam/.

cs.RO↗

arXiv2024

PoLaRIS Dataset: A Maritime Object Detection and Tracking Dataset in Pohang Canal

Maritime environments often present hazardous situations due to factors such as moving ships or buoys, which become obstacles under the influence of waves. In such challenging conditions, the ability to detect and track potentially hazardous objects is critical for the safe navigation of marine robots. To address the scarcity of comprehensive datasets capturing these dynamic scenarios, we introduce a new multi-modal dataset that includes image and point-wise annotations of maritime hazards. Our dataset provides detailed ground truth for obstacle detection and tracking, including objects as small as 10$\times$10 pixels, which are crucial for maritime safety. To validate the dataset's effectiveness as a reliable benchmark, we conducted evaluations using various methodologies, including \ac{SOTA} techniques for object detection and tracking. These evaluations are expected to contribute to performance improvements, particularly in the complex maritime environment. To the best of our knowledge, this is the first dataset offering multi-modal annotations specifically tailored to maritime environments. Our dataset is available at https://sites.google.com/view/polaris-dataset.

cs.RO↗

arXiv2024

Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition

We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition adversely. Therefore, we suffer from correcting accumulated drift errors in a consistent map using LiDAR-based place recognition with limited FOV. Thus, in this paper, we propose a robust LiDAR-based place recognition method for handling narrow FOV scenarios. The proposed method establishes spatial organization based on the range-elevation bin and azimuth-elevation bin to represent places. In addition, we achieve a robust place description through reweighting based on vertical direction information. Based on these representations, our method enables addressing rotational changes and determining the initial heading. Additionally, we designed a lightweight and fast approach for the robot's onboard autonomy. For rigorous validation, the proposed method was tested across various LiDAR place recognition scenarios (i.e., single-session, multi-session, and multi-robot scenarios). To the best of our knowledge, we report the first method to cope with the restricted FOV. Our place description and SLAM codes will be released. Also, the supplementary materials of our descriptor are available at \texttt{\url{https://sites.google.com/view/lidar-solid}}.

cs.RO↗

arXiv2024

A 28.6 mJ/iter Stable Diffusion Processor for Text-to-Image Generation with Patch Similarity-based Sparsity Augmentation and Text-based Mixed-Precision

This paper presents an energy-efficient stable diffusion processor for text-to-image generation. While stable diffusion attained attention for high-quality image synthesis results, its inherent characteristics hinder its deployment on mobile platforms. The proposed processor achieves high throughput and energy efficiency with three key features as solutions: 1) Patch similarity-based sparsity augmentation (PSSA) to reduce external memory access (EMA) energy of self-attention score by 60.3 %, leading to 37.8 % total EMA energy reduction. 2) Text-based important pixel spotting (TIPS) to allow 44.8 % of the FFN layer workload to be processed with low-precision activation. 3) Dual-mode bit-slice core (DBSC) architecture to enhance energy efficiency in FFN layers by 43.0 %. The proposed processor is implemented in 28 nm CMOS technology and achieves 3.84 TOPS peak throughput with 225.6 mW average power consumption. In sum, 28.6 mJ/iteration highly energy-efficient text-to-image generation processor can be achieved at MS-COCO dataset.

cs.AR↗

arXiv2023

Finite-size scaling analysis of the two-dimensional random transverse-field Ising ferromagnet

The random transverse-field Ising ferromagnet (RTFIF) is a highly disordered quantum system which contains randomness in the coupling strengths as well as in the transverse-field strengths. In one dimension, the critical properties are governed by an infinite-randomness fixed point (IRFP), and renormalization-group studies argue that the two-dimensional (2D) model is also governed by an IRFP. However, even the location of the critical point remains unsettled among quantum Monte Carlo (QMC) studies. In this work, we perform extensive QMC simulations to locate the quantum critical point and attempt a finite-size scaling analysis to observe the critical behavior. We estimate the critical field strength of the 2D RTFIF as $Γ_c = 7.52(2)$, together with critical exponents such as $β=1.5(3)$, $ν= 1.6(3)$, and $z=3.3(3)$ or $ψ=0.50(3)$. We have also considered the McCoy-Wu model, which has randomness in the ferromagnetic coupling strengths but not in the transverse-field strength. Our QMC calculation shows that the critical behavior of the 2D McCoy-Wu model is closer to that of the 2D transverse-field Ising spin glass than to that of the 2D RTFIF. These numerical findings enhance our understanding of disordered 2D quantum systems.

cond-mat.dis-nn↗