Jaewoo Kim

Jaewoo Kim, Uehwan Kim

While current state-of-the-art Scene Change Detection (SCD) approaches achieve impressive results in well-trained research data, they become unreliable under unseen environments and different temporal conditions; in-domain performance drops from 77.6% to 8.0% in a previously unseen environment and to 4.6% under a different temporal condition -- calling for generalizable SCD and benchmark. In this work, we propose the Generalizable Scene Change Detection Framework (GeSCF), which addresses unseen domain performance and temporal consistency -- to meet the growing demand for anything SCD. Our method leverages the pre-trained Segment Anything Model (SAM) in a zero-shot manner. For this, we design Initial Pseudo-mask Generation and Geometric-Semantic Mask Matching -- seamlessly turning user-guided prompt and single-image based segmentation into scene change detection for a pair of inputs without guidance. Furthermore, we define the Generalizable Scene Change Detection (GeSCD) benchmark along with novel metrics and an evaluation protocol to facilitate SCD research in generalizability. In the process, we introduce the ChangeVPR dataset, a collection of challenging image pairs with diverse environmental scenarios -- including urban, suburban, and rural settings. Extensive experiments across various datasets demonstrate that GeSCF achieves an average performance gain of 19.2% on existing SCD datasets and 30.0% on the ChangeVPR dataset, nearly doubling the prior art performance. We believe our work can lay a solid foundation for robust and generalizable SCD research.

Dongyoung Kim, Huiwon Jang, Myungkyu Koo et al.

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, memory-aware decision making, 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 synthesizing training data 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.

Yirum Kim, Jaewoo Kim, Ue-Hwan Kim

Current 3D scene graph generation (3DSGG) approaches heavily rely on a single-agent assumption and small-scale environments, exhibiting limited scalability to real-world scenarios. In this work, we introduce Multi-Agent 3D Scene Graph Generation (MA3DSG) model, the first framework designed to tackle this scalability challenge using multiple agents. We develop a training-free graph alignment algorithm that efficiently merges partial query graphs from individual agents into a unified global scene graph. Leveraging extensive analysis and empirical insights, our approach enables conventional single-agent systems to operate collaboratively without requiring any learnable parameters. To rigorously evaluate 3DSGG performance, we propose MA3DSG-Bench-a benchmark that supports diverse agent configurations, domain sizes, and environmental conditions-providing a more general and extensible evaluation framework. This work lays a solid foundation for scalable, multi-agent 3DSGG research.

Doris Jung-Lin Lee, Jaewoo Kim, Renxuan Wang et al.

Scatterplots are one of the simplest and most commonly-used visualizations for understanding quantitative, multidimensional data. However, since scatterplots only depict two attributes at a time, analysts often need to manually generate and inspect large numbers of scatterplots to make sense of large datasets with many attributes. We present a visual query system for scatterplots, SCATTERSEARCH, that enables users to visually search and browse through large collections of scatterplots. Users can query for other visualizations based on a region of interest or find other scatterplots that "look similar'' to a selected one. We present two demo scenarios, provide a system overview of SCATTERSEARCH, and outline future directions.

Doris Jung-Lin Lee, John Lee, Tarique Siddiqui et al.

Visual query systems (VQSs) empower users to interactively search for line charts with desired visual patterns, typically specified using intuitive sketch-based interfaces. Despite decades of past work on VQSs, these efforts have not translated to adoption in practice, possibly because VQSs are largely evaluated in unrealistic lab-based settings. To remedy this gap in adoption, we collaborated with experts from three diverse domains---astronomy, genetics, and material science---via a year-long user-centered design process to develop a VQS that supports their workflow and analytical needs, and evaluate how VQSs can be used in practice. Our study results reveal that ad-hoc sketch-only querying is not as commonly used as prior work suggests, since analysts are often unable to precisely express their patterns of interest. In addition, we characterize three essential sensemaking processes supported by our enhanced VQS. We discover that participants employ all three processes, but in different proportions, depending on the analytical needs in each domain. Our findings suggest that all three sensemaking processes must be integrated in order to make future VQSs useful for a wide range of analytical inquiries.

Vaibhav Saini, Hitesh Sajnani, Jaewoo Kim et al.

Given the availability of large source-code repositories, there has been a large number of applications for large-scale clone detection. Unfortunately, despite a decade of active research, there is a marked lack in clone detectors that scale to big software systems or large repositories, specifically for detecting near-miss (Type 3) clones where significant editing activities may take place in the cloned code. This paper demonstrates: (i) SourcererCC, a token-based clone detector that targets the first three clone types, and exploits an index to achieve scalability to large inter-project repositories using a standard workstation. It uses an optimized inverted-index to quickly query the potential clones of a given code block. Filtering heuristics based on token ordering are used to significantly reduce the size of the index, the number of code-block comparisons needed to detect the clones, as well as the number of required token-comparisons needed to judge a potential clone, and (ii) SourcererCC-I, an Eclipse plug-in, that uses SourcererCC's core engine to identify and navigate clones (both inter and intra project) in real-time during software development. In our experiments, comparing SourcererCC with the state-of-the-art tools, we found that it is the only clone detection tool to successfully scale to 250 MLOC on a standard workstation with 12 GB RAM and efficiently detect the first three types of clones (precision 86% and recall 86-100%). Link to the demo: https://youtu.be/l7F_9Qp-ks4