arXiv subjects

Sangtae Ahn

Publications and source records attributed to Sangtae Ahn.

11 recordsLinked to original sources

arXiv2026

GaussVLA: Geometry-Aware Spatial Reasoning for Vision-Language-Action Model

Vision-Language-Action (VLA) models encode visual observations as flat 2D patch tokens that carry no intrinsic geometric structure, and augmenting them with dense monocular depth injects per-pixel scalar values that encode neither surface orientation nor geometric confidence. This leaves the policy with limited structured spatial reasoning for action prediction. We propose GaussVLA, a Mamba-based VLA that incorporates two custom modules: Gaussian Spatial Tokenizer (GST) to lift frozen semantic and depth features into compact 3D Gaussian tokens, pools geometrically salient regions with learned queries, and \emph{Depth-Aware Chain-of-Thought (DA-CoT)} that performs structured, non-autoregressive geometric reasoning under language and flow-time conditioning. Across both simulation and real-world evaluations, GaussVLA demonstrates strong spatial-manipulation performance while remaining parameter-efficient. On LIBERO, it achieves 93.5% average success and 100.0% success on the Spatial suite with only 200M parameters, improving over SpatialVLA by 19.7% relative average success while remaining significantly more parameter-efficient.

cs.RO↗

arXiv2026

Distribution-Alignment Bridge for Uncertainty-Aware Text-to-Video Retrieval

This paper proposes the Distribution-Alignment Bridge (DAB), a framework that reconceptualizes text-to-video retrieval as a distribution alignment task rather than traditional deterministic point matching. By modeling both text and video embeddings as Gaussian distributions defined by mean and variance, DAB explicitly accounts for modality-specific uncertainty. We employ a deterministic, diffusion-inspired bridge to iteratively refine text distributions toward their target video distributions through a truncated refinement process. This approach unifies probabilistic embedding and distributional transformation into a cohesive, end-to-end trainable system. To optimize cross-modal similarity, we introduce a distribution-aware contrastive loss based on Kullback-Leibler divergence. Extensive evaluations on MSR-VTT, MSVD, and VATEX benchmarks confirm that DAB significantly outperforms existing probabilistic and diffusion-based baselines, while providing calibrated uncertainty-aware ranking through bridge-induced distributional margins.

cs.CV↗

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↗

arXiv2024

DAFT-GAN: Dual Affine Transformation Generative Adversarial Network for Text-Guided Image Inpainting

In recent years, there has been a significant focus on research related to text-guided image inpainting. However, the task remains challenging due to several constraints, such as ensuring alignment between the image and the text, and maintaining consistency in distribution between corrupted and uncorrupted regions. In this paper, thus, we propose a dual affine transformation generative adversarial network (DAFT-GAN) to maintain the semantic consistency for text-guided inpainting. DAFT-GAN integrates two affine transformation networks to combine text and image features gradually for each decoding block. Moreover, we minimize information leakage of uncorrupted features for fine-grained image generation by encoding corrupted and uncorrupted regions of the masked image separately. Our proposed model outperforms the existing GAN-based models in both qualitative and quantitative assessments with three benchmark datasets (MS-COCO, CUB, and Oxford) for text-guided image inpainting.

cs.CV↗

arXiv2023

Improving the performance of object detection by preserving label distribution

Object detection is a task that performs position identification and label classification of objects in images or videos. The information obtained through this process plays an essential role in various tasks in the field of computer vision. In object detection, the data utilized for training and validation typically originate from public datasets that are well-balanced in terms of the number of objects ascribed to each class in an image. However, in real-world scenarios, handling datasets with much greater class imbalance, i.e., very different numbers of objects for each class , is much more common, and this imbalance may reduce the performance of object detection when predicting unseen test images. In our study, thus, we propose a method that evenly distributes the classes in an image for training and validation, solving the class imbalance problem in object detection. Our proposed method aims to maintain a uniform class distribution through multi-label stratification. We tested our proposed method not only on public datasets that typically exhibit balanced class distribution but also on custom datasets that may have imbalanced class distribution. We found that our proposed method was more effective on datasets containing severe imbalance and less data. Our findings indicate that the proposed method can be effectively used on datasets with substantially imbalanced class distribution.

cs.CV↗

arXiv2022

A Fast Convergent Ordered-Subsets Algorithm with Subiteration-Dependent Preconditioners for PET Image Reconstruction

We investigated the imaging performance of a fast convergent ordered-subsets algorithm with subiteration-dependent preconditioners (SDPs) for positron emission tomography (PET) image reconstruction. In particular, we considered the use of SDP with the block sequential regularized expectation maximization (BSREM) approach with the relative difference prior (RDP) regularizer due to its prior clinical adaptation by vendors. Because the RDP regularization promotes smoothness in the reconstructed image, the directions of the gradients in smooth areas more accurately point toward the objective function's minimizer than those in variable areas. Motivated by this observation, two SDPs have been designed to increase iteration step-sizes in the smooth areas and reduce iteration step-sizes in the variable areas relative to a conventional expectation maximization preconditioner. The momentum technique used for convergence acceleration can be viewed as a special case of SDP. We have proved the global convergence of SDP-BSREM algorithms by assuming certain characteristics of the preconditioner. By means of numerical experiments using both simulated and clinical PET data, we have shown that the SDP-BSREM algorithms substantially improve the convergence rate, as compared to conventional BSREM and a vendor's implementation as Q.Clear. Specifically, SDP-BSREM algorithms converge 35\%-50\% faster in reaching the same objective function value than conventional BSREM and commercial Q.Clear algorithms. Moreover, we showed in phantoms with hot, cold and background regions that the SDP-BSREM algorithms approached the values of a highly converged reference image faster than conventional BSREM and commercial Q.Clear algorithms.

math.NA↗

arXiv2022

Deep learning-based reconstruction of highly accelerated 3D MRI

Purpose: To accelerate brain 3D MRI scans by using a deep learning method for reconstructing images from highly-undersampled multi-coil k-space data Methods: DL-Speed, an unrolled optimization architecture with dense skip-layer connections, was trained on 3D T1-weighted brain scan data to reconstruct complex-valued images from highly-undersampled k-space data. The trained model was evaluated on 3D MPRAGE brain scan data retrospectively-undersampled with a 10-fold acceleration, compared to a conventional parallel imaging method with a 2-fold acceleration. Scores of SNR, artifacts, gray/white matter contrast, resolution/sharpness, deep gray-matter, cerebellar vermis, anterior commissure, and overall quality, on a 5-point Likert scale, were assessed by experienced radiologists. In addition, the trained model was tested on retrospectively-undersampled 3D T1-weighted LAVA (Liver Acquisition with Volume Acceleration) abdominal scan data, and prospectively-undersampled 3D MPRAGE and LAVA scans in three healthy volunteers and one, respectively. Results: The qualitative scores for DL-Speed with a 10-fold acceleration were higher than or equal to those for the parallel imaging with 2-fold acceleration. DL-Speed outperformed a compressed sensing method in quantitative metrics on retrospectively-undersampled LAVA data. DL-Speed was demonstrated to perform reasonably well on prospectively-undersampled scan data, realizing a 2-5 times reduction in scan time. Conclusion: DL-Speed was shown to accelerate 3D MPRAGE and LAVA with up to a net 10-fold acceleration, achieving 2-5 times faster scans compared to conventional parallel imaging and acceleration, while maintaining diagnostic image quality and real-time reconstruction. The brain scan data-trained DL-Speed also performed well when reconstructing abdominal LAVA scan data, demonstrating versatility of the network.

eess.IV↗

arXiv2021

Artificial Intelligence in PET: an Industry Perspective

Artificial intelligence (AI) has significant potential to positively impact and advance medical imaging, including positron emission tomography (PET) imaging applications. AI has the ability to enhance and optimize all aspects of the PET imaging chain from patient scheduling, patient setup, protocoling, data acquisition, detector signal processing, reconstruction, image processing and interpretation. AI poses industry-specific challenges which will need to be addressed and overcome to maximize the future potentials of AI in PET. This paper provides an overview of these industry-specific challenges for the development, standardization, commercialization, and clinical adoption of AI, and explores the potential enhancements to PET imaging brought on by AI in the near future. In particular, the combination of on-demand image reconstruction, AI, and custom designed data processing workflows may open new possibilities for innovation which would positively impact the industry and ultimately patients.

cs.CV↗

arXiv2021

Adaptive Gradient Balancing for Undersampled MRI Reconstruction and Image-to-Image Translation

Recent accelerated MRI reconstruction models have used Deep Neural Networks (DNNs) to reconstruct relatively high-quality images from highly undersampled k-space data, enabling much faster MRI scanning. However, these techniques sometimes struggle to reconstruct sharp images that preserve fine detail while maintaining a natural appearance. In this work, we enhance the image quality by using a Conditional Wasserstein Generative Adversarial Network combined with a novel Adaptive Gradient Balancing (AGB) technique that automates the process of combining the adversarial and pixel-wise terms and streamlines hyperparameter tuning. In addition, we introduce a Densely Connected Iterative Network, which is an undersampled MRI reconstruction network that utilizes dense connections. In MRI, our method minimizes artifacts, while maintaining a high-quality reconstruction that produces sharper images than other techniques. To demonstrate the general nature of our method, it is further evaluated on a battery of image-to-image translation experiments, demonstrating an ability to recover from sub-optimal weighting in multi-term adversarial training.

eess.IV↗

arXiv2020

A Novel Approach for Correcting Multiple Discrete Rigid In-Plane Motions Artefacts in MRI Scans

Motion artefacts created by patient motion during an MRI scan occur frequently in practice, often rendering the scans clinically unusable and requiring a re-scan. While many methods have been employed to ameliorate the effects of patient motion, these often fall short in practice. In this paper we propose a novel method for removing motion artefacts using a deep neural network with two input branches that discriminates between patient poses using the motion's timing. The first branch receives a subset of the $k$-space data collected during a single patient pose, and the second branch receives the remaining part of the collected $k$-space data. The proposed method can be applied to artefacts generated by multiple movements of the patient. Furthermore, it can be used to correct motion for the case where $k$-space has been under-sampled, to shorten the scan time, as is common when using methods such as parallel imaging or compressed sensing. Experimental results on both simulated and real MRI data show the efficacy of our approach.

eess.IV↗

arXiv2019

Conditional WGANs with Adaptive Gradient Balancing for Sparse MRI Reconstruction

Recent sparse MRI reconstruction models have used Deep Neural Networks (DNNs) to reconstruct relatively high-quality images from highly undersampled k-space data, enabling much faster MRI scanning. However, these techniques sometimes struggle to reconstruct sharp images that preserve fine detail while maintaining a natural appearance. In this work, we enhance the image quality by using a Conditional Wasserstein Generative Adversarial Network combined with a novel Adaptive Gradient Balancing technique that stabilizes the training and minimizes the degree of artifacts, while maintaining a high-quality reconstruction that produces sharper images than other techniques.

cs.LG↗