Joohyung Lee

Jeonghyeon Kim, Byeongjun Joung, Junwon Lee et al.

Mobile GUI agents can automate smartphone tasks by interacting directly with app interfaces, but how they should communicate with users during execution remains underexplored. Existing systems rely on two extremes: foreground execution, which maximizes transparency but prevents multitasking, and background execution, which supports multitasking but provides little visual awareness. Through iterative formative studies, we found that users prefer a hybrid model with just-in-time visual interaction, but the most effective visualization modality depends on the task. Motivated by this, we present AgentLens, a mobile GUI agent that adaptively uses three visual modalities during human-agent interaction: Full UI, Partial UI, and GenUI. AgentLens extends a standard mobile agent with adaptive communication actions and uses Virtual Display to enable background execution with selective visual overlays. In a controlled study with 21 participants, AgentLens was preferred by 85.7% of participants and achieved the highest usability (1.94 Overall PSSUQ) and adoption-intent (6.43/7).

Woonsang Kang, Joohyung Lee, Seungjun Kim et al.

Grasp pose detection (GPD) is a fundamental capability for robotic autonomy, but its reliance on large, diverse datasets creates significant data privacy and centralization challenges. Federated Learning (FL) offers a privacy-preserving solution, but its application to GPD is hindered by the substantial communication overhead of large models, a key issue for resource-constrained robots. To address this, we propose a novel module-wise FL framework that begins by analyzing the learning dynamics of the GPD model's functional components. This analysis identifies slower-converging modules, to which our framework then allocates additional communication effort. This is realized through a two-phase process: a standard full-model training phase is followed by a communication-efficient phase where only the identified subset of slower-converging modules is trained and their partial updates are aggregated. Extensive experiments on the GraspNet-1B dataset demonstrate that our method outperforms standard FedAvg and other baselines, achieving higher accuracy for a given communication budget. Furthermore, real-world experiments on a physical robot validate our approach, showing a superior grasp success rate compared to baseline methods in cluttered scenes. Our work presents a communication-efficient framework for training robust, generalized GPD models in a decentralized manner, effectively improving the trade-off between communication cost and model performance.