arXiv subjects

Seungjae Lee

Publications and source records attributed to Seungjae Lee.

At least 37 records · Page 2Linked to original sources

arXiv2025

Sharp local well-posedness of $C^1$ vortex patches

It is well known that the boundary dynamics of vortex patches is globally well-posed in the Hölder space $C^{1,α}$ for $0<α<1$, whereas the well-posedness in $C^1$ remains an open problem, even locally. In this paper, we establish the local well-posedness for vortex patches in the space $C^{1,φ}$ defined via a modulus of continuity $φ$ that satisfies certain structural assumptions. Our class includes curves that are strictly rougher than the Hölder-continuous ones, with prototypical examples being $φ(r) = (-\log r)^{-s}$ for $s>3$. Motivated by the fact that the velocity operator in the contour dynamics equation is a nonlinear variant of the Hilbert transform, we study the system of equations satisfied by the curve parametrization $γ\in C^{1,φ}$ and its Hilbert transform. In doing so, we derive several properties of the Hilbert transform and its variants in critical spaces, which are essential for controlling the velocity operator and its Hilbert transform.

math.AP↗

arXiv2025

Why Are Web AI Agents More Vulnerable Than Standalone LLMs? A Security Analysis

Recent advancements in Web AI agents have demonstrated remarkable capabilities in addressing complex web navigation tasks. However, emerging research shows that these agents exhibit greater vulnerability compared to standalone Large Language Models (LLMs), despite both being built upon the same safety-aligned models. This discrepancy is particularly concerning given the greater flexibility of Web AI Agent compared to standalone LLMs, which may expose them to a wider range of adversarial user inputs. To build a scaffold that addresses these concerns, this study investigates the underlying factors that contribute to the increased vulnerability of Web AI agents. Notably, this disparity stems from the multifaceted differences between Web AI agents and standalone LLMs, as well as the complex signals - nuances that simple evaluation metrics, such as success rate, often fail to capture. To tackle these challenges, we propose a component-level analysis and a more granular, systematic evaluation framework. Through this fine-grained investigation, we identify three critical factors that amplify the vulnerability of Web AI agents; (1) embedding user goals into the system prompt, (2) multi-step action generation, and (3) observational capabilities. Our findings highlights the pressing need to enhance security and robustness in AI agent design and provide actionable insights for targeted defense strategies.

cs.LG↗

arXiv2025

Imagine, Verify, Execute: Memory-guided Agentic Exploration with Vision-Language Models

Exploration is essential for general-purpose robotic learning, especially in open-ended environments where dense rewards, explicit goals, or task-specific supervision are scarce. Vision-language models (VLMs), with their semantic reasoning over objects, spatial relations, and potential outcomes, present a compelling foundation for generating high-level exploratory behaviors. However, their outputs are often ungrounded, making it difficult to determine whether imagined transitions are physically feasible or informative. To bridge the gap between imagination and execution, we present IVE (Imagine, Verify, Execute), an agentic exploration framework inspired by human curiosity. Human exploration is often driven by the desire to discover novel scene configurations and to deepen understanding of the environment. Similarly, IVE leverages VLMs to abstract RGB-D observations into semantic scene graphs, imagine novel scenes, predict their physical plausibility, and generate executable skill sequences through action tools. We evaluate IVE in both simulated and real-world tabletop environments. The results show that IVE enables more diverse and meaningful exploration than RL baselines, as evidenced by a 4.1 to 7.8x increase in the entropy of visited states. Moreover, the collected experience supports downstream learning, producing policies that closely match or exceed the performance of those trained on human-collected demonstrations.

cs.RO↗

arXiv2025

Hopf-Induced Desynchronization

The emergence of synchrony essentially underlies the functionality of many systems across physics, biology and engineering. In all established synchronization phase transitions so far, a stable synchronous state is connected to a stable incoherent state: For continuous transitions, stable synchrony directly connects to stable incoherence at a critical point, whereas for discontinuous transitions, stable synchrony is connected to stable incoherence via an additional unstable branch. Here we present a novel type of transition between synchrony and incoherence where the synchronous state does not connect to the state of incoherence. We uncover such transitions in the complexified Kuramoto model with their variables and coupling strength parameter analytically continued. Deriving a self-consistency equation for a quaternion order parameter that we propose helps to mathematically pin down the mechanisms underlying this transition type. Local numerical analysis suggests that the transition is linked to a Hopf bifurcation destabilizing synchrony, in contrast to branching point bifurcations established for the transition between synchrony and incoherence so far.

nlin.AO↗

arXiv2025

Extreme Synchronization Transitions

Across natural and human-made systems, transition points mark sudden changes of order and are thus key to understanding overarching system features. Motivated by recent experimental observations, we here uncover an intriguing class of transitions in coupled oscillators, extreme synchronization transitions, from asynchronous disordered states to synchronous states with almost completely ordered phases. Whereas such a transition appears like discontinuous or explosive phase transitions, it exhibits markedly distinct features. First, the transition occurs already in finite systems of $N$ units and so constitutes an intriguing bifurcation of multi-dimensional systems rather than a genuine phase transition that emerges in the thermodynamic limit $N\rightarrow \infty$ only. Second, the synchronization order parameter jumps from moderate values of the order of $N^{-1/2}$ to values extremely close to $1$, its theoretical maximum, immediately upon crossing a critical coupling strength. We analytically explain the mechanisms underlying such extreme transitions in coupled complexified Kuramoto oscillators. Extreme transitions may similarly occur across other systems of coupled oscillators as well as in certain percolation processes. In applications, their occurrence impacts our ability of ensuring or preventing strong forms of ordering, for instance in biological and engineered systems.

nlin.AO↗

arXiv2025

Formation and Evolution of Compact Binaries Containing Intermediate Mass Black Holes in Dense Star Clusters`

We investigate the evolution of star clusters containing intermediate-mass black hole (IMBH) of $300$ to $5000\ \mathrm{M}_\odot$, focusing on the formation and evolution of IMBH-stellar mass black holes (SBHs; $M_{\rm BH} \lesssim 10^2\ \mathrm{M}_\odot$) binaries. Dense stellar systems like globular clusters (GCs) or nuclear star clusters offer unique laboratories for studying the existence and impact of IMBHs. IMBHs residing in GCs have been under speculation for decades, with their broad astrophysical implications for the cluster's dynamical evolution, stellar population, GW signatures, among others. While existing GW observatories such as the Advanced Laser Interferometer Gravitational-wave Observatory (aLIGO) target binaries with relatively modest mass ratios, $q \lesssim 10$, future observatories such as the Einstein Telescope (ET) and the Laser Interferometer Space Antenna (LISA) will detect intermediate-mass ratio inspirals (IMRIs) with $q > 10$. This work explores the potential for detecting IMRIs adopting these upcoming telescopes. For our experiments, we perform multiple direct $N$-body simulations with IMBHs utilizing Nbody6++GPU, after implementing the GW merger schemes for IMBHs. We then study the statistical properties of the resulting IMRIs, such as the event rates and orbital properties. Assuming that IMRIs with a signal-to-noise ratio $S/N > 8$ are detectable, we derive the following detection rates for each observatory: $\lesssim 0.02\mathrm{yr}^{-1}$ for aLIGO, $\sim 101 - 355 \mathrm{yr}^{-1}$ for ET, $\sim 186 - 200 \mathrm{yr}^{-1}$ for LISA, $\sim 0.24 - 0.34 \mathrm{yr}^{-1}$ for aSOGRO, and $\sim 3880 - 4890 \mathrm{yr}^{-1}$ for DECIGO. Our result confirms the capability of detecting IMRIs with future GW telescopes.

astro-ph.GA↗

arXiv2024

PR-CARA: Proactive V2X Resource Allocation with Extended 1-Stage SCI and Deep Learning-based Sensing Matrix Estimator

Distributed resource allocation algorithms differ from centralized methods by relying on locally collected information for resource selection, leading to a low vehicle-to-everything (V2X) communication quality of service (QoS) in high-traffic congestion. To overcome these challenges, this study proposes a proactive received signal strength indicator (RSSI)-based collision avoidance resource allocation (PR-CARA) algorithm. This algorithm features an extended 1-stage SCI system, which is a critical component that enables resource monitoring of adjacent vehicle user equipment (VUE). Monitored resources were then processed through a deep learning-based proactive RSSI estimator. The estimated proactive RSSI helps avoid resource selection, which leads to packet collisions, thereby significantly reducing the occurrence of this issue during resource allocation. The proposed algorithm is tested in a cooperative adaptive cruise control (CACC)-based platoon driving scenario that requires ultra-reliable and low-latency communication (URLLC) performance. Simulation results demonstrate that the proposed deep-learning-based proactive resource allocation algorithm, with the extended 1-stage SCI system, reduces packet collisions and improves the transmission signal-to-interference-plus-noise ratio (SINR), thereby significantly enhancing communication reliability compared to the benchmark resource allocation algorithm.

eess.SY↗

arXiv2024

TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation

Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, traversability estimation for legged robots on rough terrains faces substantial challenges owing to limited terrain information caused by restricted field-of-view, and data occlusion and sparsity. To robustly map traversable regions, we introduce terrain traversability mapping with risk-aware prediction (TRIP). TRIP reconstructs the terrain maps while predicting multi-modal traversability risks, enhancing online autonomous navigation with the following contributions. Firstly, estimating steppability in a spherical projection space allows for addressing data sparsity while accomodating scalable terrain properties. Moreover, the proposed traversability-aware Bayesian generalized kernel (T-BGK)-based inference method enhances terrain completion accuracy and efficiency. Lastly, leveraging the steppability-based Mahalanobis distance contributes to robustness against outliers and dynamic elements, ultimately yielding a static terrain traversability map. As verified in both public and our in-house datasets, our TRIP shows significant performance increases in terms of terrain reconstruction and navigation map. A demo video that demonstrates its feasibility as an integral component within an onboard online autonomous navigation system for quadruped robots is available at https://youtu.be/d7HlqAP4l0c.

cs.RO↗

arXiv2024

Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments

Robot models, particularly those trained with large amounts of data, have recently shown a plethora of real-world manipulation and navigation capabilities. Several independent efforts have shown that given sufficient training data in an environment, robot policies can generalize to demonstrated variations in that environment. However, needing to finetune robot models to every new environment stands in stark contrast to models in language or vision that can be deployed zero-shot for open-world problems. In this work, we present Robot Utility Models (RUMs), a framework for training and deploying zero-shot robot policies that can directly generalize to new environments without any finetuning. To create RUMs efficiently, we develop new tools to quickly collect data for mobile manipulation tasks, integrate such data into a policy with multi-modal imitation learning, and deploy policies on-device on Hello Robot Stretch, a cheap commodity robot, with an external mLLM verifier for retrying. We train five such utility models for opening cabinet doors, opening drawers, picking up napkins, picking up paper bags, and reorienting fallen objects. Our system, on average, achieves 90% success rate in unseen, novel environments interacting with unseen objects. Moreover, the utility models can also succeed in different robot and camera set-ups with no further data, training, or fine-tuning. Primary among our lessons are the importance of training data over training algorithm and policy class, guidance about data scaling, necessity for diverse yet high-quality demonstrations, and a recipe for robot introspection and retrying to improve performance on individual environments. Our code, data, models, hardware designs, as well as our experiment and deployment videos are open sourced and can be found on our project website: https://robotutilitymodels.com

cs.RO↗

arXiv2024

TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping

Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential. However, existing moving object segmentation methods have been developed separately for each field, making it challenging to perform real-time navigation and precise static map building simultaneously. In this paper, we propose an integrated real-time framework that combines online tracking-based moving object segmentation with static map building. For safe navigation, we introduce a computationally efficient hierarchical association cost matrix to enable real-time moving object segmentation. In the context of precise static mapping, we present a voting-based method, DS-Voting, designed to achieve accurate dynamic object removal and static object recovery by emphasizing their spatio-temporal differences. We evaluate our proposed method quantitatively and qualitatively in the SemanticKITTI dataset and real-world challenging environments. The results demonstrate that dynamic objects can be clearly distinguished and incorporated into static map construction, even in stairs, steep hills, and dense vegetation.

cs.RO↗

arXiv2024

Behavior Generation with Latent Actions

Generative modeling of complex behaviors from labeled datasets has been a longstanding problem in decision making. Unlike language or image generation, decision making requires modeling actions - continuous-valued vectors that are multimodal in their distribution, potentially drawn from uncurated sources, where generation errors can compound in sequential prediction. A recent class of models called Behavior Transformers (BeT) addresses this by discretizing actions using k-means clustering to capture different modes. However, k-means struggles to scale for high-dimensional action spaces or long sequences, and lacks gradient information, and thus BeT suffers in modeling long-range actions. In this work, we present Vector-Quantized Behavior Transformer (VQ-BeT), a versatile model for behavior generation that handles multimodal action prediction, conditional generation, and partial observations. VQ-BeT augments BeT by tokenizing continuous actions with a hierarchical vector quantization module. Across seven environments including simulated manipulation, autonomous driving, and robotics, VQ-BeT improves on state-of-the-art models such as BeT and Diffusion Policies. Importantly, we demonstrate VQ-BeT's improved ability to capture behavior modes while accelerating inference speed 5x over Diffusion Policies. Videos and code can be found https://sjlee.cc/vq-bet

cs.LG↗

arXiv2024

B-TMS: Bayesian Traversable Terrain Modeling and Segmentation Across 3D LiDAR Scans and Maps for Enhanced Off-Road Navigation

Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing segmentation algorithms often struggle with challenges related to changes in data distribution, environmental specificity, and sensor variations. Moreover, when encountering sunken areas, their performance is frequently compromised, and they may even fail to recognize them. To address these challenges, we introduce B-TMS, a novel approach that performs map-wise terrain modeling and segmentation by utilizing Bayesian generalized kernel (BGK) within the graph structure known as the tri-grid field (TGF). Our experiments encompass various data distributions, ranging from single scans to partial maps, utilizing both public datasets representing urban scenes and off-road environments, and our own dataset acquired from extremely bumpy terrains. Our results demonstrate notable contributions, particularly in terms of robustness to data distribution variations, adaptability to diverse environmental conditions, and resilience against the challenges associated with parameter changes.

cs.RO↗

arXiv2024

Efficient Quantum Circuit Encoding of Object Information in 2D Ray Casting

Quantum computing holds the potential to solve problems that are practically unsolvable by classical computers due to its ability to significantly reduce time complexity. We aim to harness this potential to enhance ray casting, a pivotal technique in computer graphics for simplifying the rendering of 3D objects. To perform ray casting in a quantum computer, we need to encode the defining parameters of primitives into qubits. However, during the current noisy intermediate-scale quantum (NISQ) era, challenges arise from the limited number of qubits and the impact of noise when executing multiple gates. Through logic optimization, we reduced the depth of quantum circuits as well as the number of gates and qubits. As a result, the event count of correct measurements from an IBM quantum computer significantly exceeded that of incorrect measurements.

quant-ph↗

arXiv2024

Complexified Synchrony

The Kuramoto model and its generalizations have been broadly employed to characterize and mechanistically understand various collective dynamical phenomena, especially the emergence of synchrony among coupled oscillators. Despite almost five decades of research, many questions remain open, in particular for finite-size systems. Here, we generalize recent work [Phys. Rev. Lett. 130, 187201 (2023)] on the finite-size Kuramoto model with its state variables analytically continued to the complex domain and also complexify its system parameters. Intriguingly, systems of two units with purely imaginary coupling do not actively synchronize even for arbitrarily large magnitudes of the coupling strengths, $|K| \rightarrow \infty$, but exhibit conservative dynamics with asynchronous rotations or librations for all $|K|$. For generic complex coupling, both, traditional phase-locked states and asynchronous states generalize to complex locked states, fixed points off the real subspace that exist even for arbitrarily weak coupling. We analyze a new collective mode of rotations exhibiting finite, yet arbitrarily large rotation numbers. Numerical simulations for large networks indicate a novel form of discontinuous phase transition. We close by pointing to a range of exciting questions for future research.

nlin.AO↗

arXiv2024

Reciprocal Attention Mixing Transformer for Lightweight Image Restoration

Although many recent works have made advancements in the image restoration (IR) field, they often suffer from an excessive number of parameters. Another issue is that most Transformer-based IR methods focus only on either local or global features, leading to limited receptive fields or deficient parameter issues. To address these problems, we propose a lightweight IR network, Reciprocal Attention Mixing Transformer (RAMiT). It employs our proposed dimensional reciprocal attention mixing Transformer (D-RAMiT) blocks, which compute bi-dimensional (spatial and channel) self-attentions in parallel with different numbers of multi-heads. The bi-dimensional attentions help each other to complement their counterpart's drawbacks and are then mixed. Additionally, we introduce a hierarchical reciprocal attention mixing (H-RAMi) layer that compensates for pixel-level information losses and utilizes semantic information while maintaining an efficient hierarchical structure. Furthermore, we revisit and modify MobileNet V1 and V2 to attach efficient convolutions to our proposed components. The experimental results demonstrate that RAMiT achieves state-of-the-art performance on multiple lightweight IR tasks, including super-resolution, color denoising, grayscale denoising, low-light enhancement, and deraining. Codes are available at https://github.com/rami0205/RAMiT.

cs.CV↗

arXiv2024

Volcano Transition in a System of Generalized Kuramoto Oscillators with Random Frustrated Interactions

In a system of heterogeneous (Abelian) Kuramoto oscillators with random or `frustrated' interactions, transitions from states of incoherence to partial synchronization were observed. These so-called volcano transitions are characterized by a change in the shape of a local field distribution and were discussed in connection with an oscillator glass. In this paper, we consider a different class of oscillators, namely a system of (non-Abelian) SU(2)-Lohe oscillators that can also be defined on the 3-sphere, i.e., an oscillator is generalized to be defined as a unit vector in 4D Euclidean space. We demonstrate that such higher-dimensional Kuramoto models with reciprocal and nonreciprocal random interactions represented by a low-rank matrix exhibit a volcano transition as well. We determine the critical coupling strength at which a volcano-like transition occurs, employing an Ott-Antonsen ansatz. Numerical simulations provide additional validations of our analytical findings and reveal the differences in observable collective dynamics prior to and following the transition. Furthermore, we show that a system of unit 3-vector oscillators on the 2-sphere does not possess a volcano transition.

nlin.AO↗

arXiv2024

Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots

With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentation and traversability estimation play important roles in perception and path planning, respectively. Even though these two techniques appear similar, their objectives are different. Ground segmentation divides data into ground and non-ground elements; thus, it is used as a preprocessing stage to extract objects of interest by rejecting ground points. In contrast, traversability estimation identifies and comprehends areas in which robots can move safely. Nevertheless, some researchers use these terms without clear distinction, leading to misunderstanding the two concepts. Therefore, in this study, we survey related literature and clearly distinguish ground and traversable regions considering four aspects: a) maneuverability of robot platforms, b) position of a robot in the surroundings, c) subset relation of negative obstacles, and d) subset relation of deformable objects.

cs.RO↗

arXiv2023

Cohomology Isomorphism of Symmetric Power of Cotangent Bundle of Ball quotient and Its Toroidal Compactification

In this paper, we investigate the $L^2$-Dolbeault cohomology of the symmetric power of cotangent bundles of ball quotients with finite volume, as well as their toroidal compactification. Through the application of Hodge theory for complete hermitian manifolds, we establish the existence of Hodge decomposition and Green's operator. Moreover, we extend the results by Adachi [A21] and Lee-Seo [LS23-2] from compact complex hyperbolic spaces to complex hyperbolic spaces with finite volume.

math.CV↗