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Jungbeom Lee

Jungbeom Lee contributes to research discovery and scholarly infrastructure.

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Computer Vision Machine Learning Artificial Intelligence Robotics

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preprint2026arXiv

Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal inter-dependencies in ego-vehicle planning, ignoring the reciprocal relations between the ego vehicle and surrounding agents. This causal oversight leads to inconsistent and unreliable trajectory predictions, especially in interaction-critical scenarios where ego decisions and neighboring agent behaviors must be reasoned about jointly. To address this limitation, we propose CaAD, a Causality-aware end-to-end Autonomous Driving framework that captures these dependencies within a shared latent scene representation. First, we propose an ego-centric joint-causal modeling module that builds on the marginal prediction branch, and learns causal dependencies between the ego vehicle and interaction-relevant agents. Second, we employ a causality-aware policy alignment stage implemented with joint-mode embeddings to align the stochastic ego policy with planning-oriented closed-loop feedback computed from surrounding traffic and map context. On the Bench2Drive and NAVSIM benchmarks, CaAD demonstrates strong closed-loop planning performance, achieving a Driving Score of 87.53 and Success Rate of 71.81 on Bench2Drive, and a PDMS of 91.1 on NAVSIM. The project page is available at https://moonseokha.github.io/CaAD/.

preprint2026arXiv

Diagnosing and Correcting Concept Omission in Multimodal Diffusion Transformers

Multimodal Diffusion Transformers (MM-DiTs) have achieved remarkable progress in text-to-image generation, yet they frequently suffer from concept omission, where specified objects or attributes fail to emerge in the generated image. By performing linear probing on text tokens, we demonstrate that text embeddings can distinguish a characteristic `omission signal' representing the absence of target concepts. Leveraging this insight, we propose Omission Signal Intervention (OSI), which amplifies the omission signal to actively catalyze the generation of missing concepts. Comprehensive experiments on FLUX.1-Dev and SD3.5-Medium demonstrate that OSI significantly alleviates concept omission even in extreme scenarios.

preprint2022arXiv

Anti-Adversarially Manipulated Attributions for Weakly Supervised Semantic Segmentation and Object Localization

Obtaining accurate pixel-level localization from class labels is a crucial process in weakly supervised semantic segmentation and object localization. Attribution maps from a trained classifier are widely used to provide pixel-level localization, but their focus tends to be restricted to a small discriminative region of the target object. An AdvCAM is an attribution map of an image that is manipulated to increase the classification score produced by a classifier before the final softmax or sigmoid layer. This manipulation is realized in an anti-adversarial manner, so that the original image is perturbed along pixel gradients in directions opposite to those used in an adversarial attack. This process enhances non-discriminative yet class-relevant features, which make an insufficient contribution to previous attribution maps, so that the resulting AdvCAM identifies more regions of the target object. In addition, we introduce a new regularization procedure that inhibits the incorrect attribution of regions unrelated to the target object and the excessive concentration of attributions on a small region of the target object. Our method achieves a new state-of-the-art performance in weakly and semi-supervised semantic segmentation, on both the PASCAL VOC 2012 and MS COCO 2014 datasets. In weakly supervised object localization, it achieves a new state-of-the-art performance on the CUB-200-2011 and ImageNet-1K datasets.

preprint2022arXiv

Bridging the Gap between Classification and Localization for Weakly Supervised Object Localization

Weakly supervised object localization aims to find a target object region in a given image with only weak supervision, such as image-level labels. Most existing methods use a class activation map (CAM) to generate a localization map; however, a CAM identifies only the most discriminative parts of a target object rather than the entire object region. In this work, we find the gap between classification and localization in terms of the misalignment of the directions between an input feature and a class-specific weight. We demonstrate that the misalignment suppresses the activation of CAM in areas that are less discriminative but belong to the target object. To bridge the gap, we propose a method to align feature directions with a class-specific weight. The proposed method achieves a state-of-the-art localization performance on the CUB-200-2011 and ImageNet-1K benchmarks.

preprint2022arXiv

Perception Prioritized Training of Diffusion Models

Diffusion models learn to restore noisy data, which is corrupted with different levels of noise, by optimizing the weighted sum of the corresponding loss terms, i.e., denoising score matching loss. In this paper, we show that restoring data corrupted with certain noise levels offers a proper pretext task for the model to learn rich visual concepts. We propose to prioritize such noise levels over other levels during training, by redesigning the weighting scheme of the objective function. We show that our simple redesign of the weighting scheme significantly improves the performance of diffusion models regardless of the datasets, architectures, and sampling strategies.

preprint2022arXiv

Weakly Supervised Semantic Segmentation using Out-of-Distribution Data

Weakly supervised semantic segmentation (WSSS) methods are often built on pixel-level localization maps obtained from a classifier. However, training on class labels only, classifiers suffer from the spurious correlation between foreground and background cues (e.g. train and rail), fundamentally bounding the performance of WSSS. There have been previous endeavors to address this issue with additional supervision. We propose a novel source of information to distinguish foreground from the background: Out-of-Distribution (OoD) data, or images devoid of foreground object classes. In particular, we utilize the hard OoDs that the classifier is likely to make false-positive predictions. These samples typically carry key visual features on the background (e.g. rail) that the classifiers often confuse as foreground (e.g. train), so these cues let classifiers correctly suppress spurious background cues. Acquiring such hard OoDs does not require an extensive amount of annotation efforts; it only incurs a few additional image-level labeling costs on top of the original efforts to collect class labels. We propose a method, W-OoD, for utilizing the hard OoDs. W-OoD achieves state-of-the-art performance on Pascal VOC 2012.

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