Keonwoo Kim

Chan Kim, Keonwoo Kim, Mintaek Oh et al.

Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation and navigation. However, existing methods are primarily designed for static environments and do not leverage the agent's own experiences to refine its initial plans. Given that real-world environments are inherently stochastic, initial plans based solely on LLMs' general knowledge may fail to achieve their objectives, unlike in static scenarios. To address this limitation, this study introduces the Experience-and-Emotion Map (E2Map), which integrates not only LLM knowledge but also the agent's real-world experiences, drawing inspiration from human emotional responses. The proposed methodology enables one-shot behavior adjustments by updating the E2Map based on the agent's experiences. Our evaluation in stochastic navigation environments, including both simulations and real-world scenarios, demonstrates that the proposed method significantly enhances performance in stochastic environments compared to existing LLM-based approaches. Code and supplementary materials are available at https://e2map.github.io/.

Junho Song, Keonwoo Kim, Jeonglyul Oh et al.

Detecting anomalies in real-world multivariate time series data is challenging due to complex temporal dependencies and inter-variable correlations. Recently, reconstruction-based deep models have been widely used to solve the problem. However, these methods still suffer from an over-generalization issue and fail to deliver consistently high performance. To address this issue, we propose the MEMTO, a memory-guided Transformer using a reconstruction-based approach. It is designed to incorporate a novel memory module that can learn the degree to which each memory item should be updated in response to the input data. To stabilize the training procedure, we use a two-phase training paradigm which involves using K-means clustering for initializing memory items. Additionally, we introduce a bi-dimensional deviation-based detection criterion that calculates anomaly scores considering both input space and latent space. We evaluate our proposed method on five real-world datasets from diverse domains, and it achieves an average anomaly detection F1-score of 95.74%, significantly outperforming the previous state-of-the-art methods. We also conduct extensive experiments to empirically validate the effectiveness of our proposed model's key components.

Keonwoo Kim, Younggun Lee

With the growing volume of diverse information, the demand for classifying arbitrary topics has become increasingly critical. To address this challenge, we introduce DRAFT, a simple framework designed to train a classifier for few-shot topic classification. DRAFT uses a few examples of a specific topic as queries to construct Customized dataset with a dense retriever model. Multi-query retrieval (MQR) algorithm, which effectively handles multiple queries related to a specific topic, is applied to construct the Customized dataset. Subsequently, we fine-tune a classifier using the Customized dataset to identify the topic. To demonstrate the efficacy of our proposed approach, we conduct evaluations on both widely used classification benchmark datasets and manually constructed datasets with 291 diverse topics, which simulate diverse contents encountered in real-world applications. DRAFT shows competitive or superior performance compared to baselines that use in-context learning, such as GPT-3 175B and InstructGPT 175B, on few-shot topic classification tasks despite having 177 times fewer parameters, demonstrating its effectiveness.

Donghwi Jung, Keonwoo Kim, Seong-Woo Kim

We propose GOTPR, a robust place recognition method designed for outdoor environments where GPS signals are unavailable. Unlike existing approaches that use point cloud maps, which are large and difficult to store, GOTPR leverages scene graphs generated from text descriptions and maps for place recognition. This method improves scalability by replacing point clouds with compact data structures, allowing robots to efficiently store and utilize extensive map data. In addition, GOTPR eliminates the need for custom map creation by using publicly available OpenStreetMap data, which provides global spatial information. We evaluated its performance using the KITTI360Pose dataset with corresponding OpenStreetMap data, comparing it to existing point cloud-based place recognition methods. The results show that GOTPR achieves comparable accuracy while significantly reducing storage requirements. In city-scale tests, it completed processing within a few seconds, making it highly practical for real-world robotics applications. More information can be found at https://donghwijung.github.io/GOTPR_page/.