Li Guan, Rachael Granberry, Sahar Aseeri, Sahar Rostami, Taylor Niehues, Sai Dhanooshi Marri, Mia Huang, Dingtian Zhang 等 104 位作者
Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world model learning - yet no existing wearable platform provides both calibrated fingertip force sensing and occlusion-resilient hand tracking in a form factor that preserves natural manipulation behavior. We present Tactus, a textile-integrated sensing glove that co-optimizes three design pillars: (1) a thin, conformal 3D-knit form factor (1.5 mm fingertip stackup) designed to minimize interference with natural manipulation, (2) strategically placed capacitive tactile sensors at manipulation-relevant regions informed by empirical contact studies, and (3) IMU-fused pose tracking that maintains accuracy through the hand-object occlusions where manipulation data is most valuable. Tactus includes a documented calibration pipeline for cross-glove consistency and per-session calibration for subject-dependent correction. To enable objective comparison, we introduce standardized benchmarking protocols for tactile force regression and hand pose estimation, and apply them to Tactus and two commercially available tactile gloves - to our knowledge the first quantitative cross-platform evaluation of this kind. Tactus resolves a minimum detectable force of 0.59 N at 95% confidence, 1.6 - 2.7x lower than the commercial baselines, and with 0.87 cross-participant consistency, while our pose tracking sustains 11.0 mm fingertip keypoint relative error during manipulation, when occlusion is heaviest. We show that these combined signals support object property estimation, slip detection, and representative recording of hand-object interaction - yielding demonstration data with the fidelity required for contact-aware manipulation policies and world models.
Donggyun Kim, Jack Lu, Chanwoo Kim, Mengye Ren, Seunghoon Hong
Long-form thinking traces can substantially improve the multi-step reasoning performance of large language models (LLMs), but they introduce high inference-time overhead, with latency dominated by sequential decoding. We propose HyperThink, a text-to-parameter approach that amortizes this reasoning computation into a single query-conditioned parameter update: a lightweight hypernetwork reads the question and predicts updates to a small subset of the base LLM's parameters, while a vector-quantized decoder constrains them to a finite set of reusable patterns to improve robustness and transfer. Trained end-to-end on outputs from the base model itself, HyperThink eliminates long thinking traces at test time: after one hypernetwork forward pass, the adapted model generates a concise step-by-step solution and final answer without an intermediate trace, using far fewer tokens while retaining strong reasoning performance. Empirically, HyperThink improves the low-latency region of the accuracy-latency trade-off on mathematical and general reasoning tasks, with its strongest gains in the near-non-thinking regime.
Junha Cha, Chanwoo Kim, Kisang Park, Yeoncheol Jang, Doyoung Kim, Seungmin Kim, Kyungjae Lee, Sungjoon Choi
Reliable box manipulation requires successful placement without damage, which depends on maintaining sufficient contact force without excessive loading. We hypothesize that per-finger force feedback improves manipulation reliability relative to open-loop finger commands. To this end, we present Finger External-Force Estimation from Proprioceptive SignaLs (FEEL), an uncertainty-aware residual method that estimates per-finger external force magnitude from proprioceptive histories. Our method combines a calibrated virtual-spring estimate with a residual distribution predicted by a Mixture Density Network (MDN) and requires no dedicated contact sensors during deployment. The estimated force is used for continuous per-finger adaptation, while predictive uncertainty is evaluated as an empirical signal of ambiguity in proprioceptive force estimation. Across ten fingers and contact forces spanning 0-20 N, our method achieves a mean RMSE of 0.251 N, reducing the error by 92.8% relative to the virtual spring and by 9.4% relative to an end-to-end MDN. In box pick-and-place, force adaptation maintains task success at 10/10 and increases both damage-free outcomes and reliability from 7/10 to 10/10. The project page is available at https://finger-force-estimation.pages.dev/
Youngbin Choi, Minjong Lee, Saemi Moon, Seunghyuk Cho, Chaehyeon Chung, MoonJeong Park, Dongwoo Kim
LLM-generated drafts often contain subtle factual or logical errors, yet prior work shows that models struggle to reliably integrate multi-turn feedback aimed at fixing them. We propose in-place feedback, an interaction paradigm in which the user directly edits the model's previous response and the model continues generation from the edited context. In-place feedback consistently outperforms standard multi-turn feedback across five reasoning-intensive benchmarks while requiring fewer tokens, and our fine-grained analysis shows that it applies corrections more reliably and propagates them to subsequent reasoning. A user study with domain experts refining LLM-generated summaries corroborates these findings: participants report higher final-output satisfaction and substantially lower fatigue with in-place feedback, and a mixed strategy combining in-place and multi-turn feedback improves every dimension we measure. These results suggest that editing errors in place is a more reliable way to incorporate expert corrections than multi-turn feedback, while combining the two acts complementarily to form a more effective collaboration than either mechanism alone.
Autonomous vehicles in enclosed spaces such as tunnels and mines rely on range maps that smoke, dust and fog make inaccurate. Conformal prediction calibrates a keepout around the mapped walls that covers the true unsafe set at a chosen probability. Typically an unmodified planner treats the keepout as an inflated obstacle, and nothing ensures that the vehicle can stop before the keepout as it moves when sensing degrades. In narrow passages this margin and the planner's buffer close the route, and existing remedies recover reach by relaxing the coverage level. This paper conditions the conformal margin on a label-free severity estimate to hold coverage near its target as degradation varies. A planning and control layer enforces one braking-distance condition on the keepout at plan time and at every command, takes the measured tracking residual as its only margin and never alters the keepout. The keepout is validated on ground-robot smoke recordings and the closed loop in simulated quadrotor flights in a foggy tunnel against the standard deployment. In closed-loop simulation the proposed system substantially reduces entries into the calibrated keepout and reaches numerically more goals than the deployment pattern in both calibration regimes, an observed gain of 3.2 percentage points pooled whose per-regime confidence intervals include zero. The per-class keepout holds its coverage near the target on held-out recordings.
Junyeong Ahn, Geonwoo Kim, Kinam Kim, Gihwi Kim, Hoonjin Jung, Hyojin Jang, Jaegul Choo
Generating videos of a specific subject from a few reference images remains challenging when the camera reveals surfaces that are not visible in the input. Early subject-to-video (S2V) methods condition on a single reference image and must therefore infer the subject's unseen appearance and geometry as the viewpoint changes. To address this limitation, recent methods extend S2V to multiple reference views, providing more information about the subject from different viewpoints. However, they do not explicitly specify the 3D structure that connects these observations. In addition, existing training data do not guarantee that viewpoint changes preserve the same underlying 3D subject. We present OmniShowcase, built on two components: (i) a fully automated data synthesis pipeline that produces training videos along diverse camera trajectories, with viewpoint variation driven by underlying subject geometry, even spanning full 360-degree orbits; and (ii) a geometry-conditioning method that provides the video model with a turntable of surface-normal maps reconstructed from the reference views without requiring temporal alignment with the generated frames. We construct Showcase-4K, a corpus of 3D-asset-based videos covering twelve camera motions across 88 trajectory configurations with reconstruction-derived surface-normal conditioning, and ShowcaseBench, a held-out evaluation set with the source meshes and camera parameters used to render each video. Experiments show state-of-the-art subject identity and 3D consistency while maintaining competitive video quality and motion. Project page: justin4ai.github.io/OmniShowcase
Kyungho Kim, Yeonje Choi, Gyurim Hwang, Sejin Chung, Hongseok Lee, Myeong Ho Song, Yeongho Kim, Sunwoo Kim 等 11 位作者
Vision-Language Models (VLMs) perform well on general multimodal tasks, yet applying them to real-world advertisement (ad) evaluation is challenging due to strong brand specificity and limited labeled data. We introduce a new practical task, brand-specific ad ranking, which aims to rank ads for a target brand prior to deployment by modeling brand-specific effectiveness. To this end, we propose ADvisor, which derives explicit brand-aware decision criteria using VLMs, augments limited brand context with ads from similar brands, and applies reflection-based scoring for ranking. Experiments on real-world advertising data from 10 brands, collected through actual ad campaigns, show that ADvisor outperforms strong baselines by up to 7.2%. Further analyses show the generated criteria capture meaningful brand specificity, and ADvisor also performs strongly in online A/B testing. Our code is available at https://github.com/K-Kyungho/ADvisor.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表
Kon Woo Kim National Institute of Informatics, Jin-Dong Kim Research Organization of Information and Systems, Akiko Aizawa National Institute of Informatics
While Large Language Models (LLMs) demonstrates remarkable zero-shot annotation tasks, they often struggle with the specialized conventions of gold-standard benchmarks. We propose the systematic reuse and refinement of annotation guidelines as an alignment mechanism, introducing an iterative moderation framework that simulates the early phases of annotation projects. We evaluate three hypotheses: (1) the efficacy of guideline integration, (2) the advantage of reasoning-optimized models, and (3) the viability of moderation under minimal supervision. Testing across biomedical NER tasks (NCBI Disease, BC5CDR, BioRED) with three LLM families (GPT, Gemini, DeepSeek), our results empirically confirm all three hypotheses. While the iterative moderation framework shows a good potential in effectively refining guidelines, our analysis also reveals a significant room for improvement.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表