Jung Hwan Kim

Jaehyun Park, Subin Lee, Eon Kim et al.

Feature fusion modules from encoder and self-attention module have been adopted in semantic segmentation. However, the computation of these modules is costly and has operational limitations in real-time environments. In addition, segmentation performance is limited in autonomous driving environments with a lot of contextual information perpendicular to the road surface, such as people, buildings, and general objects. In this paper, we propose an efficient feature fusion method, Feature Fusion with Different Norms (FFDN) that utilizes rich global context of multi-level scale and vertical pooling module before self-attention that preserves most contextual information while reducing the complexity of global context encoding in the vertical direction. By doing this, we could handle the properties of representation in global space and reduce additional computational cost. In addition, we analyze low performance in challenging cases including small and vertically featured objects. We achieve the mean Interaction of-union(mIoU) of 73.1 and the Frame Per Second(FPS) of 191, which are comparable results with state-of-the-arts on Cityscapes test datasets.

Seungbae Seo, Junghwan Kim, Minjeong Shin et al.

Multi-Agent Pathfinding (MAPF) is a core challenge in multi-agent systems. Existing learning-based MAPF methods often struggle with scalability, particularly when addressing complex scenarios that are prone to deadlocks. To address these challenges, we introduce LLMDR (LLM-Driven Deadlock Detection and Resolution), an approach designed to resolve deadlocks and improve the performance of learnt MAPF models. LLMDR integrates the inference capabilities of large language models (LLMs) with learnt MAPF models and prioritized planning, enabling it to detect deadlocks and provide customized resolution strategies. We evaluate LLMDR on standard MAPF benchmark maps with varying agent numbers, measuring its performance when combined with several base models. The results demonstrate that LLMDR improves the performance of learnt MAPF models, particularly in deadlock-prone scenarios, with notable improvements in success rates. These findings show the potential of integrating LLMs to improve the scalability of learning-based MAPF methods. The source code for LLMDR is available at: https://github.com/ssbacc/llmdr-dhc