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Taeyoung Kim

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Artificial Intelligence Information Theory Machine Learning math.IT Robotics

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preprint2026arXiv

A Robust Foundation Model for Conservation Laws: Injecting Context into Flux Neural Operators via Recurrent Vision Transformers

We propose an architecture that augments the Flux Neural Operator (Flux NO), which combines the classical finite volume method (FVM) with neural operators, with ViT-based context injection. Our model is formulated as a hypernetwork: it extracts solution dynamics over a finite temporal window, encodes them with a recurrent Vision Transformer, and generates the parameters of a context-conditioned neural operator. This enables the model to infer and solve conservation laws without explicit access to the governing equation or PDE coefficients. Experimentally, we show that the proposed method preserves the robustness, generalization ability, and long-time prediction advantages of Flux NO over standard neural operators, while delivering reliable numerical solutions across a broad range of conservative systems, including previously unseen fluxes. Our code is available at https://github.com/xx257xx/CONTEXT_FLUX_NO.

preprint2026arXiv

RLDX-1 Technical Report

While Vision-Language-Action models (VLAs) have shown remarkable progress toward human-like generalist robotic policies through the versatile intelligence (i.e. broad scene understanding and language-conditioned generalization) inherited from pre-trained Vision-Language Models, they still struggle with complex real-world tasks requiring broader functional capabilities (e.g. motion awareness, long-term memory, and physical sensing). To address this, we introduce RLDX-1, a general-purpose robotic policy for dexterous manipulation built on the Multi-Stream Action Transformer (MSAT), an architecture that unifies these capabilities by integrating heterogeneous modalities through modality-specific streams with cross-modal joint self-attention. RLDX-1 further combines this architecture with system-level design choices, including data synthesis for rare manipulation scenarios, learning procedures specialized for human-like manipulation, and inference optimizations for real-time deployment. Through empirical evaluation, we show that RLDX-1 consistently outperforms recent frontier VLAs (e.g. $π_{0.5}$ and GR00T N1.6) across both simulation benchmarks and real-world tasks that require broad functional capabilities beyond general versatility. In particular, RLDX-1 shows superiority in ALLEX humanoid tasks by achieving success rates of 86.8% while $π_{0.5}$ and GR00T N1.6 achieve around 40%, highlighting the ability of RLDX-1 to control a high-DoF humanoid robot under diverse functional demands. Together, these results position RLDX-1 as a promising step toward reliable VLAs for complex, contact-rich, and dynamic real-world dexterous manipulation.

preprint2022arXiv

Path Planning of Cleaning Robot with Reinforcement Learning

Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumption is also increasing. To solve this electricity consumption issue, the problem of efficient path planning for cleaning robot has become important and many studies have been conducted. However, most of them are about moving along a simple path segment, not about the whole path to clean all places. As the emerging deep learning technique, reinforcement learning (RL) has been adopted for cleaning robot. However, the models for RL operate only in a specific cleaning environment, not the various cleaning environment. The problem is that the models have to retrain whenever the cleaning environment changes. To solve this problem, the proximal policy optimization (PPO) algorithm is combined with an efficient path planning that operates in various cleaning environments, using transfer learning (TL), detection nearest cleaned tile, reward shaping, and making elite set methods. The proposed method is validated with an ablation study and comparison with conventional methods such as random and zigzag. The experimental results demonstrate that the proposed method achieves improved training performance and increased convergence speed over the original PPO. And it also demonstrates that this proposed method is better performance than conventional methods (random, zigzag).

preprint2015arXiv

Exploiting the Preferred Domain of FDD Massive MIMO Systems with Uniform Planar Arrays

Massive multiple-input multiple-output (MIMO) systems hold the potential to be an enabling technology for 5G cellular. Uniform planar array (UPA) antenna structures are a focus of much commercial discussion because of their ability to enable a large number of antennas in a relatively small area. With UPA antenna structures, the base station can control the beam direction in both the horizontal and vertical domains simultaneously. However, channel conditions may dictate that one dimension requires higher channel state information (CSI) accuracy than the other. We propose the use of an additional one bit of feedback information sent from the user to the base station to indicate the preferred domain on top of the feedback overhead of CSI quantization in frequency division duplexing (FDD) massive MIMO systems. Combined with variable-rate CSI quantization schemes, the numerical studies show that the additional one bit of feedback can increase the quality of CSI significantly for UPA antenna structures.

preprint2014arXiv

Trellis-Extended Codebooks and Successive Phase Adjustment: A Path from LTE-Advanced to FDD Massive MIMO Systems

It is of great interest to develop efficient ways to acquire accurate channel state information (CSI) for frequency division duplexing (FDD) massive multiple-input multiple-output (MIMO) systems for backward compatibility. It is theoretically well known that the codebook size for CSI quantization should be increased as the number of transmit antennas becomes larger, and 3GPP long term evolution (LTE) and LTE-Advanced codebooks also follow this trend. Thus, in massive MIMO, it is hard to apply the conventional approach of using pre-defined vector-quantized codebooks for CSI quantization mainly because of codeword search complexity. In this paper, we propose a trellis-extended codebook (TEC) that can be easily harmonized with current wireless standards such as LTE or LTE-Advanced by extending standardized codebooks designed for 2, 4, or 8 antennas with trellis structures. TEC exploits a Viterbi decoder and convolutional encoder in channel coding as the CSI quantizer and the CSI reconstructer, respectively. By quantizing multiple channel entries simultaneously using standardized codebooks in a state transition of trellis search, TEC can achieve fractional bits per channel entry quantization to have a practical feedback overhead. Thus, TEC can solve both the complexity and the feedback overhead issues of CSI quantization in massive MIMO systems. We also develop trellis-extended successive phase adjustment (TE-SPA) which works as a differential codebook of TEC. This is similar to the dual codebook concept of LTE-Advanced. TE-SPA can reduce CSI quantization error even with lower feedback overhead in temporally correlated channels. Numerical results verify the effectiveness of the proposed schemes in FDD massive MIMO systems.

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