Jaemin Seo

Jaemin Seo, Surin Lee, Jae Yong Lee

Deep learning methods based on backward stochastic differential equations (BSDEs) have emerged as competitive alternatives to physics-informed neural networks (PINNs) for solving high-dimensional partial differential equations (PDEs). By leveraging probabilistic representations, BSDE approaches can avoid the curse of dimensionality and often admit second-order-free training objectives that do not require explicit Hessian evaluations. It has recently been established that the commonly used Euler-Maruyama (EM) time discretization induces an intrinsic bias in BSDE training losses. While high-order schemes such as Heun can fully eliminate this bias, such schemes re-introduce second-order spatial derivatives and incur substantial computational overhead. In this work, we provide a principled analysis of EM-induced loss bias and propose an unbiased, second-order-free training framework that preserves the computational advantages of BSDE methods. Our code is available at https://github.com/seojaemin22/Un-EM-BSDE.

Zhirui Dai, Tianxing Fan, Mani Amani et al.

Accurate and efficient environment representation is crucial for robotic applications such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to obstacle boundaries, enabling efficient collision-checking and trajectory optimization techniques. However, existing SDF reconstruction methods have limitations when it comes to large-scale uncertainty-aware SDF estimation from streaming sensor data. Voxel-based approaches are limited by fixed resolution and lack uncertainty quantification, neural network methods require significant training time, while Gaussian process (GP) methods struggle with scalability, sign estimation, and uncertainty calibration. In this letter, we develop an open-source library, Kernel-SDF, which uses kernel regression to learn SDF with calibrated uncertainty quantification in real-time. Our approach consists of a front-end that learns a continuous occupancy field via kernel regression, and a back-end that estimates accurate SDF via GP regression using samples from the front-end surface boundaries. Kernel-SDF provides accurate SDF, SDF gradient, SDF uncertainty, and mesh construction in real-time. Evaluation results show that Kernel-SDF achieves superior accuracy compared to existing methods, while maintaining real-time performance, making it suitable for various robotics applications requiring reliable uncertainty-aware geometric information.

Jinsu Kim, Jaemin Seo

This research explores the application of Deep Reinforcement Learning (DRL) to optimize the design of a nuclear fusion reactor. DRL can efficiently address the challenging issues attributed to multiple physics and engineering constraints for steady-state operation. The fusion reactor design computation and the optimization code applicable to parallelization with DRL are developed. The proposed framework enables finding the optimal reactor design that satisfies the operational requirements while reducing building costs. Multi-objective design optimization for a fusion reactor is now simplified by DRL, indicating the high potential of the proposed framework for advancing the efficient and sustainable design of future reactors.

Myong-Yol Choi, Hankyoul Ko, Hanse Cho et al.

This paper presents a deep reinforcement learning (DRL) based controller for collective navigation of unmanned aerial vehicle (UAV) swarms in communication-denied environments, enabling robust operation in complex, obstacle-rich environments. Inspired by biological swarms where informed individuals guide groups without explicit communication, we employ an implicit leader-follower framework. In this paradigm, only the leader possesses goal information, while follower UAVs learn robust policies using only onboard LiDAR sensing, without requiring any inter-agent communication or leader identification. Our system utilizes LiDAR point clustering and an extended Kalman filter for stable neighbor tracking, providing reliable perception independent of external positioning systems. The core of our approach is a DRL controller, trained in GPU-accelerated Nvidia Isaac Sim, that enables followers to learn complex emergent behaviors - balancing flocking and obstacle avoidance - using only local perception. This allows the swarm to implicitly follow the leader while robustly addressing perceptual challenges such as occlusion and limited field-of-view. The robustness and sim-to-real transfer of our approach are confirmed through extensive simulations and challenging real-world experiments with a swarm of five UAVs, which successfully demonstrated collective navigation across diverse indoor and outdoor environments without any communication or external localization.

Keonvin Park, Jisu Kim, Jaemin Seo

This paper introduces PINT (Physics-Informed Neural Time Series Models), a framework that integrates physical constraints into neural time series models to improve their ability to capture complex dynamics. We apply PINT to the ERA5 WeatherBench dataset, focusing on long-term forecasting of 2m-temperature data. PINT incorporates the Simple Harmonic Oscillator Equation as a physics-informed prior, embedding its periodic dynamics into RNN, LSTM, and GRU architectures. This equation's analytical solutions (sine and cosine functions) facilitate rigorous evaluation of the benefits of incorporating physics-informed constraints. By benchmarking against a linear regression baseline derived from its exact solutions, we quantify the impact of embedding physical principles in data-driven models. Unlike traditional time series models that rely on future observations, PINT is designed for practical forecasting. Using only the first 90 days of observed data, it iteratively predicts the next two years, addressing challenges posed by limited real-time updates. Experiments on the WeatherBench dataset demonstrate PINT's ability to generalize, capture periodic trends, and align with physical principles. This study highlights the potential of physics-informed neural models in bridging machine learning and interpretable climate applications. Our models and datasets are publicly available on GitHub: https://github.com/KV-Park.

Azarakhsh Jalalvand, SangKyeun Kim, Jaemin Seo et al.

A non-linear system governed by multi-spatial and multi-temporal physics scales cannot be fully understood with a single diagnostic, as each provides only a partial view, leading to information loss. Combining multiple diagnostics may also result in incomplete projections of the system's physics. By identifying hidden inter-correlations between diagnostics, we can leverage mutual support to fill in these gaps, but uncovering such correlations analytically is too complex. We introduce a machine learning methodology to address this issue. Unlike traditional methods, our multimodal approach does not rely on the target diagnostic's direct measurements to generate its super-resolution version. Instead, it uses other diagnostics to produce super-resolution data, capturing detailed structural evolution and responses to perturbations previously unobservable. This not only enhances the resolution of a diagnostic for deeper insights but also reconstructs the target diagnostic, providing a valuable tool to mitigate diagnostic failure. This methodology addresses a key challenge in fusion plasmas: the Edge Localized Mode (ELM), a plasma instability that can cause significant erosion of plasma-facing materials. A method to stabilize ELM is using resonant magnetic perturbation (RMP) to trigger magnetic islands. However, limited spatial and temporal resolution restricts analysis of these islands due to their small size, rapid dynamics, and complex plasma interactions. With super-resolution diagnostics, we can experimentally verify theoretical models of magnetic islands for the first time, providing insights into their role in ELM stabilization. This advancement supports the development of effective ELM suppression strategies for future fusion reactors like ITER and has broader applications, potentially revolutionizing diagnostics in fields such as astronomy, astrophysics, and medical imaging.