SearcharxivSearch

arXiv subjects

Yonghyun Lee

Publications and source records attributed to Yonghyun Lee.

2 recordsLinked to original sources

SCOPE-FE: Structured Control of Operator and Pairwise Exploration for Feature Engineering via Quality-Aware Candidate-Space Reduction

Automatic feature engineering can improve predictive performance on tabular data by generating diverse feature transformations. However, the candidate space induced by combinations of input features and operators grows rapidly with dimensionality, resulting in substantial computational cost. We propose SCOPE-FE, a framework that controls the search space before candidate generation. SCOPE-FE combines FeatureClustering, a structural pair gate based on mixed-type feature association, with OperatorProbing, a dataset-specific utility control over operators. Unlike conventional expand-and-reduce approaches that generate a large candidate set and prune it afterward, SCOPE-FE focuses computation on a smaller, data-dependent candidate pool. Across ten OpenFE benchmark datasets, SCOPE-FE achieves a median candidate-space reduction of 82.9% and lowers component-summed feature-engineering time-including separately measured FeatureClustering overhead-on all ten datasets, yielding a geometric-mean speedup of 2.66x and a maximum speedup of 5.48x. Despite this reduction, SCOPE-FE is within the stated practical-equivalence margin of OpenFE on 8 of 10 datasets. An exhaustive candidate audit shows enrichment above uniform-random expectation on 8 of 10 datasets, with a median enrichment of 1.35x. Against Random-Pair, SCOPE-FE has higher enrichment on 6 of 10 datasets, with 5 of 10 significant; against Random-Operator and Random-Joint, it has higher enrichment on 8 of 10 datasets, with 8 of 10 significant for each. These results demonstrate that pre-generation search-space control can substantially reduce feature-engineering time while retaining a utility-enriched candidate pool under the OpenFE-compatible evaluation protocol.

stat.ML

Grasping Deformable Objects via Reinforcement Learning with Cross-Modal Attention to Visuo-Tactile Inputs

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate appropriate control inputs not to drop or break the object while performing manipulation tasks. Multi-modal sensing data could help understand the grasping state through global information (e.g., shapes, pose) from visual data and local information around the contact (e.g., pressure) from tactile data. Although they have complementary information that can be beneficial to use together, fusing them is difficult owing to their different properties. We propose a method based on deep reinforcement learning (DRL) that generates control inputs of a simple gripper from visuo-tactile sensing information. Our method employs a cross-modal attention module in the encoder network and trains it in a self-supervised manner using the loss function of the RL agent. With the multi-modal fusion, the proposed method can learn the representation for the DRL agent from the visuo-tactile sensory data. The experimental result shows that cross-modal attention is effective to outperform other early and late data fusion methods across different environments including unseen robot motions and objects.

cs.RO