arXiv subjects

Sangmoon Lee

Publications and source records attributed to Sangmoon Lee.

3 recordsLinked to original sources

arXiv2026

SUREFlow: State-space Uncertainty-aware REsidual Flow Matching for Robust Robot Manipulation

Generative vision-language-action policies have advanced robot manipulation, but they often exhibit instability under noise, partial observability, and stochastic initial conditions. During extended rollouts, small velocity errors accumulate, degrading execution reliability. Existing diffusion and flow-based policies typically assume homoscedastic residuals and lack explicit uncertainty modeling within action generation, limiting robustness during iterative rollout. We propose SUREFlow, a state-space uncertainty-aware residual flow matching framework built on a Mamba backbone. The method jointly predicts action velocities and input-dependent residual uncertainty, enabling selective refinement of unreliable action dimensions without environment feedback while preserving computational efficiency. On LIBERO, SUREFlow achieves 92.5% average success rate (SR), outperforming the Mamba-based MaIL by 34.2%. On LIBERO-PRO, it attains around 49% SR using only 179M parameters, achieving performance comparable to large VLAs with 3-7B parameters. SUREFlow source code is available on: https://github.com/tanvirnwu/SUREFlow

cs.RO↗

arXiv2026

Multimodal Video-to-Music Recommendation via Semantic Retrieval and Temporal Reranking

We present VTMR, a two-stage framework for Video-To-Music Recommendation. In Stage~1, VTMR aligns comprehensive video and music signals in a joint audio-visual-text representation space and efficiently retrieves semantically compatible candidates using coarse global embeddings. In Stage~2, it reranks the retrieved candidates by attending to the temporal sequences of both video and music, thereby capturing fine-grained temporal correspondence. Evaluated on the video-to-music recommendation task, the multimodal retrieval stage improves R@10 from 14.2 to 15.9 and Median Rank from 75 to 58 over the strongest baseline; the temporal reranker further boosts R@10 to 18.3 and Median Rank to 46, demonstrating complementary gains from richer query encoding and temporal alignment. A human preference study confirms that VTMR is on par with a commercial baseline in overall preference, while outperforming a generative baseline in music quality.

cs.MM↗

arXiv2023

Room Impulse Response Estimation in a Multiple Source Environment

In real-world acoustic scenarios, there often are multiple sound sources present in a room. These sources are situated in various locations and produce sounds that reach the listener from multiple directions. The presence of multiple sources in a room creates new challenges in estimating the room impulse response (RIR) as each source has a unique RIR, dependent on its location and orientation. Therefore, issues of determining which RIR should be predicted and how to predict it arise, when the input signal is a mixture of multiple reverberated sources. To address these, we propose a new task of predicting a "representative" RIR for a room in a multiple source environment and present a training method to achieve this goal. In contrast to the model trained in a single source environment, our method shows robust performance, regardless of the number of sources in the environment.

cs.SD↗