Jiwon Choi

Jihoon Kwon, Jiwon Choi, Jy-yong Sohn

In-context learning (ICL) allows large language models (LLMs) to adapt to new tasks through demonstrations, yet it suffers from escalating inference costs as context length increases. While task vectors offer a promising alternative by compressing demonstrations into compact hidden-state representations, their quality has been evaluated only through downstream task accuracy. This indirect criterion provides limited insight into how to design more effective task vector extraction methods. In this paper, we posit that inference using task vectors should align their predictive distribution with that of ICL. To quantify this, we introduce $d_{\text{NTP}}$, a metric that measures the discrepancy in next-token probabilities between task vector-based and ICL-based inference. Our empirical analysis reveals that $d_{\text{NTP}}$ serves as a performance proxy, exhibiting a strong negative correlation with downstream accuracy. Motivated by this, we develop Linear Task Vector (LTV), a method designed to minimize $d_{\text{NTP}}$ via a closed-form linear mapping that estimates demonstration effects through regression. Across eight classification benchmarks and five LLMs, LTV consistently outperforms existing task vector baselines, improving average accuracy by 9.2\% while reducing inference latency. We further show that LTV outperforms the baselines on regression tasks. Moreover, we investigate the transferability of LTV across different model scales; an aspect that has remained nascent in task vector research. Specifically, we empirically show that task vectors from a larger model can enhance a smaller model's performance by 6.4\%, suggesting a new utility for extracted task representations.

Juil Koo, Mingue Park, Jiwon Choi et al.

We propose Drifting Field Policy (DFP), a non-ODE one-step generative policy built on the drifting model paradigm. We frame the policy update as a reverse-KL Wasserstein-2 gradient flow toward a soft target policy, so that each DFP update corresponds to a gradient step in probability space. By construction, this gradient is decomposed into an ascent toward higher action-value regions and a score matching with the anchor policy as a trust region. We further derive a simple, tractable surrogate of the otherwise intractable update loss, akin to behavior cloning on top-K critic-selected actions. We find empirically that this mechanism uniquely benefits the drifting backbone owing to its non-ODE parameterization. With one-step inference, DFP achieves state-of-the-art performance on several manipulation tasks across Robomimic and OGBench, outperforming ODE-based policies.

Advait Tilak, Jiwon Choi, Nazifa Mouli et al.

The rapid advancement of photorealistic Text-to-Video (T2V) generation brings in an urgent need for up-to-date evaluation methods. Existing benchmarks largely overlooked implausible scenarios and do not measure audio-visual alignment. We introduce BRITE, the first framework that unifies (1) implausible prompting, (2) fine-grained assessment of audio-visual consistency, and (3) QA-based interpretable evaluation into a comprehensive T2V benchmark. Unlike fully automated Multimodal LLM-based pipelines, which are prone to hallucination and prompt ambiguity, BRITE guarantees reliability through a rigorous human-in-the-loop protocol for benchmark creation. Evaluating five state-of-the-art models (Sora 2, Veo 3.1, Runway Gen4.5, Pixverse V5.5, and Qwen3Max), we reveal a critical performance gap: while models excel at static object composition, they exhibit significant degradation in object-action binding and audio-visual synchronization. Our framework offers the community a reliable, interpretable benchmark and evaluation framework that can detect and locate limitations in the next generation of T2V models, especially for off-manifold prompts

Jiwon Choi, Hogyun Kim, Geonmo Yang et al.

Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to remarkable progress in inertial odometry. However, the heavy reliance on ground truth data during training fundamentally limits scalability and generalization to unseen and diverse environments. We propose KISS-IMU, a novel self-supervised inertial odometry framework that eliminates ground truth dependency by leveraging simple LiDAR-based ICP registration and pose graph optimization as a supervisory signal. Our approach embodies two key principles: keeping the IMU stable through motion-aware balanced training and keeping the IMU strong through uncertainty-driven adaptive weighting during inference. To evaluate performance across diverse motion patterns and scenarios, we conducted comprehensive experiments on various real-world platforms, including quadruped robots. Importantly, we train only the IMU network in a self-supervised manner, with LiDAR serving solely as a lightweight supervisory signal rather than requiring additional learnable processes. This design enables the framework to ensure robustness without relying on joint multi-modal learning or ground truth supervision. The supplementary materials are available at https://sparolab.github.io/research/kiss_imu.