arXiv subjects

Simo Ryu

Publications and source records attributed to Simo Ryu.

3 recordsLinked to original sources

arXiv2026

Summer-22B: A Systematic Approach to Dataset Engineering and Training at Scale for Video Foundation Model

We describe our experience training Summer-22B, a video foundation model developed from scratch. This report documents the engineering challenges, design decisions, and lessons learned while scaling from raw footage collection to a functional model trained on approximately 50 million clips. We outline our approach combining metadata-driven dataset curation, multi-stage filtering, $\mu$P parameterization, and hypersphere-constrained optimization. We developed the Lavender Data system for dataset management and adopted inference-aware architectural choices. We share observations on what worked in our setting: dataset engineering consumed the majority of effort, architectural variants showed smaller differences than we expected, and $\mu$P hyperparameter transfer appeared effective even under geometric constraints. We hope this account proves useful to others undertaking similar projects.

cs.CV↗

arXiv2023

Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains

In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extracting relevant information becomes a complex problem, which hinders adequate perception and path planning. Previous works have shown promising performances in extracting global features from full-sized images. However, they often face challenges in capturing essential local information. In this paper, we propose Crop-LSTM, which iteratively takes cropped image patches around the current robot's position and predicts the future position, orientation, and bumpiness. Our method performs local feature extraction by paying attention to corresponding image patches along the predicted robot trajectory in the 2D image plane. This enables more accurate predictions of the robot's future trajectory. With our wheeled mobile robot platform Raicart, we demonstrated the effectiveness of Crop-LSTM for point-goal navigation in an unpaved outdoor environment. Our method enabled safe and robust navigation using RGBD images in challenging unpaved outdoor terrains. The summary video is available at https://youtu.be/iIGNZ8ignk0.

cs.RO↗

arXiv2023

Efficient Storage of Fine-Tuned Models via Low-Rank Approximation of Weight Residuals

In this paper, we present an efficient method for storing fine-tuned models by leveraging the low-rank properties of weight residuals. Our key observation is that weight residuals in large overparameterized models exhibit even stronger low-rank characteristics. Based on this insight, we propose Efficient Residual Encoding (ERE), a novel approach that achieves efficient storage of fine-tuned model weights by approximating the low-rank weight residuals. Furthermore, we analyze the robustness of weight residuals and push the limit of storage efficiency by utilizing additional quantization and layer-wise rank allocation. Our experimental results demonstrate that our method significantly reduces memory footprint while preserving performance in various tasks and modalities. We release our code.

cs.LG↗