arXiv subjects

Sangmin Song

Publications and source records attributed to Sangmin Song.

5 recordsLinked to original sources

arXiv2026

VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM

We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular RGB alone, a regime no prior training-free system addresses. Online systems typically segment object instances and label them at first detection, committing when evidence is weakest. VOIM instead defers label and instance decisions until soft evidence from unmodified, off-the-shelf perception has accumulated per voxel across views. We show that the mapping stage, rather than the particular perception models, carries the result: across four perception configurations on ScanNet++, varying the region descriptor, the detector label prior and the mask source, the map exceeds the strongest online RGB-D system, OVO-SLAM, by between 4.8 and 11.7 mIoU. Perception is not neutral, and substituting that baseline's own descriptor family costs 4.1 of the margin, yet the baseline carries the marginally better 2D descriptor (33.7 vs. 31.5 mIoU over three scenes) and still realizes the weaker map. Under a like-for-like protocol VOIM reaches 44.07 mIoU on ScanNet++ against 32.37, winning all ten scenes and both aggregations (pooled 33.31 vs. 25.97), and the same system runs unchanged to fully monocular RGB, matching that baseline pooled on Replica (27.80 vs. 27.50). The advantage is regime-specific: under Replica's all-classes scoring, matched inputs give a split result, 28.60 vs. 27.50 pooled against 24.59 vs. 30.11 on the per-scene mean. Room scale is label-limited and building scale drift-limited. Labeling does not run in real time, dominated by per-class detection over the full vocabulary. The maps export occupancy grids and resolve free-form queries to object instances.

cs.CV↗

arXiv2025

Beyond Single-User Dialogue: Assessing Multi-User Dialogue State Tracking Capabilities of Large Language Models

Large language models (LLMs) have demonstrated remarkable performance in zero-shot dialogue state tracking (DST), reducing the need for task-specific training. However, conventional DST benchmarks primarily focus on structured user-agent conversations, failing to capture the complexities of real-world multi-user interactions. In this study, we assess the robustness of LLMs in multi-user DST while minimizing dataset construction costs. Inspired by recent advances in LLM-based data annotation, we extend an existing DST dataset by generating utterances of a second user based on speech act theory. Our methodology systematically incorporates a second user's utterances into conversations, enabling a controlled evaluation of LLMs in multi-user settings. Experimental results reveal a significant performance drop compared to single-user DST, highlighting the limitations of current LLMs in extracting and tracking dialogue states amidst multiple speakers. Our findings emphasize the need for future research to enhance LLMs for multi-user DST scenarios, paving the way for more realistic and robust DST models.

cs.CL↗

arXiv2024

Enhancing Effectiveness and Robustness in a Low-Resource Regime via Decision-Boundary-aware Data Augmentation

Efforts to leverage deep learning models in low-resource regimes have led to numerous augmentation studies. However, the direct application of methods such as mixup and cutout to text data, is limited due to their discrete characteristics. While methods using pretrained language models have exhibited efficiency, they require additional considerations for robustness. Inspired by recent studies on decision boundaries, this paper proposes a decision-boundary-aware data augmentation strategy to enhance robustness using pretrained language models. The proposed technique first focuses on shifting the latent features closer to the decision boundary, followed by reconstruction to generate an ambiguous version with a soft label. Additionally, mid-K sampling is suggested to enhance the diversity of the generated sentences. This paper demonstrates the performance of the proposed augmentation strategy compared to other methods through extensive experiments. Furthermore, the ablation study reveals the effect of soft labels and mid-K sampling and the extensibility of the method with curriculum data augmentation.

cs.CL↗

arXiv2024

AutoAugment Is What You Need: Enhancing Rule-based Augmentation Methods in Low-resource Regimes

Text data augmentation is a complex problem due to the discrete nature of sentences. Although rule-based augmentation methods are widely adopted in real-world applications because of their simplicity, they suffer from potential semantic damage. Previous researchers have suggested easy data augmentation with soft labels (softEDA), employing label smoothing to mitigate this problem. However, finding the best factor for each model and dataset is challenging; therefore, using softEDA in real-world applications is still difficult. In this paper, we propose adapting AutoAugment to solve this problem. The experimental results suggest that the proposed method can boost existing augmentation methods and that rule-based methods can enhance cutting-edge pre-trained language models. We offer the source code.

cs.CL↗

arXiv2024

SoftEDA: Rethinking Rule-Based Data Augmentation with Soft Labels

Rule-based text data augmentation is widely used for NLP tasks due to its simplicity. However, this method can potentially damage the original meaning of the text, ultimately hurting the performance of the model. To overcome this limitation, we propose a straightforward technique for applying soft labels to augmented data. We conducted experiments across seven different classification tasks and empirically demonstrated the effectiveness of our proposed approach. We have publicly opened our source code for reproducibility.

cs.CL↗