arXiv subjects

Minseok Song

Publications and source records attributed to Minseok Song.

9 recordsLinked to original sources

arXiv2026

Sling2Sim2Real: One-Shot Elastic System Identification for Non-Destructive Slingshot Policy Learning

Elastic object manipulation (EOM) involves highdimensional, nonlinear, and elastic deformations. The diverse deformation properties of elastic objects substantially expand the relevant state space, requiring extensive exploration to learn accurate manipulation policies for tasks such as slingshot manipulation. While simulation enables large-scale and safe exploration compared to costly and potentially destructive real-world trials (e.g., repeated projectile launches), accurately calibrating elastic behavior between the real world and simulation remains challenging since elastic properties are largely indistinguishable from visual observations alone. To address these challenges, we propose Sling2Sim2Real, a one-shot Real2Sim2Real framework that identifies elastic parameters from a single non-destructive interaction and enables policy learning in simulation. The framework consists of two stages: 1) a multi-start Real2Sim system identification method that exploits parameter covariance to estimate elastic properties, and 2) simulation-based policy learning followed by zero-shot Sim2Real transfer using the calibrated simulator. We evaluate Sling2Sim2Real on a slingshot manipulation task using a Franka Emika Panda arm and elastic bands with diverse physical properties across varying target distances. Experimental results demonstrate that Sling2Sim2Real achieves accurate policy learning and robust generalization while significantly reducing the amount of required real-world interaction.

cs.RO↗

arXiv2026

ParCo-SDF: Learning Prior-Free Partial-to-Complete Signed Distance Fields of Deformable Objects

This study addresses the partial-to-complete geometry reconstruction of deformable objects (DOs) from point-cloud observations toward precise DO manipulation. Recent DO reconstruction approaches often adopt implicit neural representations (INRs) to model continuous surfaces as well as capture structural variability. However, these methods typically rely on object-specific shape priors that improve training stability and limit generalization. To figure it out, we introduce ParCo-SDF, a two-stage partial-to-complete signed distance field (SDF) reconstruction framework consisting of temporal geometry encoding followed by FiLM-conditioned SDF prediction. The temporal encoder captures structural similarity across DO sequence, enabling prior-free stable training. FiLM-based conditioning preserves reconstruction expressivity while reducing network complexity. We evaluate the proposed method against a state-of-the-art DO surface reconstruction baseline on a rubber band manipulation dataset, demonstrating robust and high-fidelity reconstruction under severe occlusions.

cs.CV↗

arXiv2025

MAP4TS: A Multi-Aspect Prompting Framework for Time-Series Forecasting with Large Language Models

Recent advances have investigated the use of pretrained large language models (LLMs) for time-series forecasting by aligning numerical inputs with LLM embedding spaces. However, existing multimodal approaches often overlook the distinct statistical properties and temporal dependencies that are fundamental to time-series data. To bridge this gap, we propose MAP4TS, a novel Multi-Aspect Prompting Framework that explicitly incorporates classical time-series analysis into the prompt design. Our framework introduces four specialized prompt components: a Global Domain Prompt that conveys dataset-level context, a Local Domain Prompt that encodes recent trends and series-specific behaviors, and a pair of Statistical and Temporal Prompts that embed handcrafted insights derived from autocorrelation (ACF), partial autocorrelation (PACF), and Fourier analysis. Multi-Aspect Prompts are combined with raw time-series embeddings and passed through a cross-modality alignment module to produce unified representations, which are then processed by an LLM and projected for final forecasting. Extensive experiments across eight diverse datasets show that MAP4TS consistently outperforms state-of-the-art LLM-based methods. Our ablation studies further reveal that prompt-aware designs significantly enhance performance stability and that GPT-2 backbones, when paired with structured prompts, outperform larger models like LLaMA in long-term forecasting tasks.

cs.CL↗

arXiv2025

The Impact of Event Data Partitioning on Privacy-aware Process Discovery

Information systems support the execution of business processes. The event logs of these executions generally contain sensitive information about customers, patients, and employees. The corresponding privacy challenges can be addressed by anonymizing the event logs while still retaining utility for process discovery. However, trading off utility and privacy is difficult: the higher the complexity of event log, the higher the loss of utility by anonymization. In this work, we propose a pipeline that combines anonymization and event data partitioning, where event abstraction is utilized for partitioning. By leveraging event abstraction, event logs can be segmented into multiple parts, allowing each sub-log to be anonymized separately. This pipeline preserves privacy while mitigating the loss of utility. To validate our approach, we study the impact of event partitioning on two anonymization techniques using three real-world event logs and two process discovery techniques. Our results demonstrate that event partitioning can bring improvements in process discovery utility for directly-follows-based anonymization techniques.

cs.CR↗

arXiv2025

Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations

We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited degree of freedom (DoF) of deformable objects. Further, their dense but partial observations (e.g., images or point clouds) may increase the sampling complexity and uncertainty in policy learning. To figure it out, we propose a novel implicit neural-representation (INR) learning for elastic DOMs, called INR-DOM. Our method learns consistent state representations associated with partially observable elastic objects reconstructing a complete and implicit surface represented as a signed distance function. Furthermore, we perform exploratory representation fine-tuning through reinforcement learning (RL) that enables RL algorithms to effectively learn exploitable representations while efficiently obtaining a DOM policy. We perform quantitative and qualitative analyses building three simulated environments and real-world manipulation studies with a Franka Emika Panda arm. Videos are available at http://inr-dom.github.io.

cs.RO↗

arXiv2024

A Survey of Large Language Models in Finance (FinLLMs)

Large Language Models (LLMs) have shown remarkable capabilities across a wide variety of Natural Language Processing (NLP) tasks and have attracted attention from multiple domains, including financial services. Despite the extensive research into general-domain LLMs, and their immense potential in finance, Financial LLM (FinLLM) research remains limited. This survey provides a comprehensive overview of FinLLMs, including their history, techniques, performance, and opportunities and challenges. Firstly, we present a chronological overview of general-domain Pre-trained Language Models (PLMs) through to current FinLLMs, including the GPT-series, selected open-source LLMs, and financial LMs. Secondly, we compare five techniques used across financial PLMs and FinLLMs, including training methods, training data, and fine-tuning methods. Thirdly, we summarize the performance evaluations of six benchmark tasks and datasets. In addition, we provide eight advanced financial NLP tasks and datasets for developing more sophisticated FinLLMs. Finally, we discuss the opportunities and the challenges facing FinLLMs, such as hallucination, privacy, and efficiency. To support AI research in finance, we compile a collection of accessible datasets and evaluation benchmarks on GitHub.

cs.CL↗

arXiv2021

Prediction-based Resource Allocation using Bayesian Neural Networks and Minimum Cost and Maximum Flow Algorithm

Predictive business process monitoring aims at providing predictions about running instances by analyzing logs of completed cases in a business process. Recently, a lot of research focuses on increasing productivity and efficiency in a business process by forecasting potential problems during its executions. However, most of the studies lack suggesting concrete actions to improve the process. They leave it up to the subjective judgment of a user. In this paper, we propose a novel method to connect the results from predictive business process monitoring to actual business process improvements. More in detail, we optimize the resource allocation in a non-clairvoyant online environment, where we have limited information required for scheduling, by exploiting the predictions. The proposed method integrates the offline prediction model construction that predicts the processing time and the next activity of an ongoing instance using Bayesian Neural Networks (BNNs) with the online resource allocation that is extended from the minimum cost and maximum flow algorithm. To validate the proposed method, we performed experiments using an artificial event log and a real-life event log from a global financial organization.

cs.AI↗

arXiv2019

Modelling the Intrusive feelings of advanced driver assistance systems based on vehicle activity log data: a case study for the lane keeping assistance system

Although the automotive industry has been among the sectors that best-understands the importance of drivers' affect, the focus of design and research in the automotive field has long emphasized the visceral aspects of exterior and interior design. With the adoption of Advanced Driver Assistance Systems (ADAS), endowing 'semi-autonomy' to the vehicles, however, the scope of affective design should be expanded to include the behavioural aspects of the vehicle. In such a 'shared-control' system wherein the vehicle can intervene in the human driver's operations, a certain degree of 'intrusive feelings' are unavoidable. For example, when the Lane Keeping Assistance System (LKAS), one of the most popular examples of ADAS, operates the steering wheel in a dangerous situation, the driver may feel interrupted or surprised because of the abrupt torque generated by LKAS. This kind of unpleasant experience can lead to prolonged negative feelings such as irritation, anxiety, and distrust of the system. Therefore, there are increasing needs of investigating the driver's affective responses towards the vehicle's dynamic behaviour. In this study, four types of intrusive feelings caused by LKAS were identified to be proposed as a quantitative performance indicator in designing the affectively satisfactory behaviour of LKAS. A metric as well as a statistical data analysis method to quantitatively measure the intrusive feelings through the vehicle sensor log data.

cs.HC↗

arXiv2017

Binary superlattice design by controlling DNA-mediated interactions

Most binary superlattices created using DNA functionalization or other approaches rely on particle size differences to achieve compositional order and structural diversity. Here we study two-dimensional (2D) assembly of DNA-functionalized micron-sized particles (DFPs), and employ a strategy that leverages the tunable disparity in interparticle interactions, and thus enthalpic driving forces, to open new avenues for design of binary superlattices that do not rely on the ability to tune particle size (i.e., entropic driving forces). Our strategy employs tailored blends of complementary strands of ssDNA to control interparticle interactions between micron-sized silica particles in a binary mixture to create compositionally diverse 2D lattices. We show that the particle arrangement can be further controlled by changing the stoichiometry of the binary mixture in certain cases. With this approach, we demonstrate the abil- ity to program the particle assembly into square, pentagonal, and hexagonal lattices. In addition, different particle types can be compositionally ordered in square checkerboard and hexagonal - alternating string, honeycomb, and Kagome arrangements.

cond-mat.soft↗