arXiv subjects

Seungmin Kim

Publications and source records attributed to Seungmin Kim.

6 recordsLinked to original sources

arXiv2026

Learning Dexterous Grasping from Sparse Taxonomy Guidance

Dexterous manipulation requires planning a grasp configuration suited to the object and task, which is then executed through coordinated multi-finger control. However, specifying grasp plans with dense pose or contact targets for every object and task is impractical. Meanwhile, end-to-end reinforcement learning from task rewards alone lacks controllability, making it difficult for users to intervene when failures occur. To this end, we present GRIT, a two-stage framework that learns dexterous control from sparse taxonomy guidance. GRIT first predicts a taxonomy-based grasp specification from the scene and task context. Conditioned on this sparse command, a policy generates continuous finger motions that accomplish the task while preserving the intended grasp structure. Our result shows that certain grasp taxonomies are more effective for specific object geometries. By leveraging this relationship, GRIT improves generalization to novel objects over baselines and achieves an overall success rate of 87.9%. Moreover, real-world experiments demonstrate controllability, enabling grasp strategies to be adjusted through high-level taxonomy selection based on object geometry and task intent.

cs.RO↗

arXiv2026

AnalogToBi: Device-Level Analog Circuit Topology Generation via Bipartite Graph and Grammar Guided Decoding

Analog circuit design remains highly dependent on expert knowledge due to the complexity of device-level interactions and topology design. Recent transformer-based approaches for device-level topology generation have shown promise, yet they suffer from low electrical validity without human-in-the-loop (HITL) training and severe memorization caused by sequence-based circuit representations. In this work, we propose AnalogToBi, a framework for device-level analog circuit topology generation. AnalogToBi introduces circuit-type conditioning for categorizing heterogeneous multi-type topology datasets, device renaming augmentation to mitigate memorization, a bipartite graph representation for improved structural generalization, and grammar-guided decoding to enforce structural validity during bipartite graph generation. Experimental results demonstrate that AnalogToBi achieves high validity and novelty without HITL training while effectively avoiding memorization of training topologies. Our code is available at https://github.com/Seungmin0825/AnalogToBi.

cs.AR↗

arXiv2025

RoVo: Robust Voice Protection Against Unauthorized Speech Synthesis with Embedding-Level Perturbations

With the advancement of AI-based speech synthesis technologies such as Deep Voice, there is an increasing risk of voice spoofing attacks, including voice phishing and fake news, through unauthorized use of others' voices. Existing defenses that inject adversarial perturbations directly into audio signals have limited effectiveness, as these perturbations can easily be neutralized by speech enhancement methods. To overcome this limitation, we propose RoVo (Robust Voice), a novel proactive defense technique that injects adversarial perturbations into high-dimensional embedding vectors of audio signals, reconstructing them into protected speech. This approach effectively defends against speech synthesis attacks and also provides strong resistance to speech enhancement models, which represent a secondary attack threat. In extensive experiments, RoVo increased the Defense Success Rate (DSR) by over 70% compared to unprotected speech, across four state-of-the-art speech synthesis models. Specifically, RoVo achieved a DSR of 99.5% on a commercial speaker-verification API, effectively neutralizing speech synthesis attack. Moreover, RoVo's perturbations remained robust even under strong speech enhancement conditions, outperforming traditional methods. A user study confirmed that RoVo preserves both naturalness and usability of protected speech, highlighting its effectiveness in complex and evolving threat scenarios.

cs.LG↗

arXiv2024

Spatio-Temporal Motion Retargeting for Quadruped Robots

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from source to target, effectively bridging the morphological disparities while ensuring the physical feasibility of the target system. In the first stage, we focus on motion retargeting at the kinematic level by generating kinematically feasible whole-body motions from keypoint trajectories. Following this, we refine the motion at the dynamic level by adjusting it in the temporal domain while adhering to physical constraints. This process facilitates policy training via reinforcement learning, enabling precise and robust motion tracking. We demonstrate that our approach successfully transforms noisy motion sources, such as hand-held camera videos, into robot-specific motions that align with the morphology and physical properties of the target robots. Moreover, we demonstrate terrain-aware motion retargeting to perform BackFlip on top of a box. We successfully deployed these skills to four robots with different dimensions and physical properties in the real world through hardware experiments.

cs.RO↗

arXiv2022

Developing a Meta-suggestion Engine for Search Queries

Typically, search engines provide query suggestions to assist users in the search process. Query suggestions are very important for improving users search experience. However, most query suggestions are based on the user's search logs, and they can be influenced by infrequently searched queries. Depending on the user's query, query suggestions can be ineffective in global search engines but effective in a domestic search engine. Conversely, it can be effective in global engines and weak in domestic engines. In addition, log-based query suggestions require many search logs, which makes them difficult to construct outside of a large search engine. Some search engines do not provide query suggestions, making searches difficult for users. These query suggestion vulnerabilities degrade the user's search experience. In this study, we develop a meta-suggestion, a new query suggestion scheme. Similar to meta-searches, meta-suggestions retrieves candidate queries of suggestions from other search engines. Meta-suggestions generate suggestions by reranking the aggregated candidate queries. We develop a meta-suggestion engine (MSE) browser extension that generates meta-suggestions. It can provide query suggestions for any webpage and does not require a search log. Comparing our meta-suggestions to major search engines such as Google, showed a 17% performance improvement on normalized discounted cumulative gain (NDCG) and a 31% improvement on precision. If more detailed factors, such as user preferences are discovered through continued research, it is expected that user searches will greatly improve. An enhanced user search experience is possible if factors, such as user preference, are examined in future work.

cs.IR↗

arXiv2022

Normality Analysis of Current World Record Computations for Catalan's Constant and Arc Length of a Lemniscate with $a=1$

Catalan's constant and the lemniscate constants have been important mathematical constants of interest to the mathematical society, yet various properties are unknown. An important property of significant mathematical constants is whether they are normal numbers. This paper evaluates the normality of decimal and hexadecimal representations of current world record computations of digits for the Catalan's constant (600,000,000,100 decimal digits and 498,289,214,317 hexadecimal digits) and the arc length of a lemniscate with $a=1$ (600,000,000,000 decimal digits and 498,289,214,234 hexadecimal digits). All analyzed frequencies are persistent to the conjecture of Catalan's constant and the arc length of a lemniscate with $a=1$ being a normal number in bases 10 and 16.

math.GM↗