Junyoung Kim

Junyoung Kim, Anton Korikov, Jiazhou Liang et al.

While Large Language Models (LLMs) exhibit exceptional zero-shot relevance modeling, their high computational cost necessitates framing passage retrieval as a budget-constrained global optimization problem. Existing approaches passively rely on first-stage dense retrievers, which leads to two limitations: (1) failing to retrieve relevant passages in semantically distinct clusters, and (2) failing to propagate relevance signals to the broader corpus. To address these limitations, we propose Bayesian Active Learning with Gaussian Processes guided by LLM relevance scoring (BAGEL), a novel framework that propagates sparse LLM relevance signals across the embedding space to guide global exploration. BAGEL models the multimodal relevance distribution across the entire embedding space with a query-specific Gaussian Process (GP) based on LLM relevance scores. Subsequently, it iteratively selects passages for scoring by strategically balancing the exploitation of high-confidence regions with the exploration of uncertain areas. Extensive experiments across four benchmark datasets and two LLM backbones demonstrate that BAGEL effectively explores and captures complex relevance distributions and outperforms LLM reranking methods under the same LLM budget on all four datasets.

Junyoung Kim, Junwon Seo, Jihong Min

Robotic mapping with Bayesian Kernel Inference (BKI) has shown promise in creating semantic maps by effectively leveraging local spatial information. However, existing semantic mapping methods face challenges in constructing reliable maps in unstructured outdoor scenarios due to unreliable semantic predictions. To address this issue, we propose an evidential semantic mapping, which can enhance reliability in perceptually challenging off-road environments. We integrate Evidential Deep Learning into the semantic segmentation network to obtain the uncertainty estimate of semantic prediction. Subsequently, this semantic uncertainty is incorporated into an uncertainty-aware BKI, tailored to prioritize more confident semantic predictions when accumulating semantic information. By adaptively handling semantic uncertainties, the proposed framework constructs robust representations of the surroundings even in previously unseen environments. Comprehensive experiments across various off-road datasets demonstrate that our framework enhances accuracy and robustness, consistently outperforming existing methods in scenes with high perceptual uncertainties.

Junyoung Kim, Junwon Seo

Semantic mapping with Bayesian Kernel Inference (BKI) has shown promise in providing a richer understanding of environments by effectively leveraging local spatial information. However, existing methods face challenges in constructing accurate semantic maps or reliable uncertainty maps in perceptually challenging environments due to unreliable semantic predictions. To address this issue, we propose an evidential semantic mapping framework, which integrates the evidential reasoning of Dempster-Shafer Theory of Evidence (DST) into the entire mapping pipeline by adopting Evidential Deep Learning (EDL) and Dempster's rule of combination. Additionally, the extended belief is devised to incorporate local spatial information based on their uncertainty during the mapping process. Comprehensive experiments across various off-road datasets demonstrate that our framework enhances the reliability of uncertainty maps, consistently outperforming existing methods in scenes with high perceptual uncertainties while showing semantic accuracy comparable to the best-performing semantic mapping techniques.

Seo-Hyun Lee, Young-Eun Lee, Soowon Kim et al.

Brain-to-speech technology represents a fusion of interdisciplinary applications encompassing fields of artificial intelligence, brain-computer interfaces, and speech synthesis. Neural representation learning based intention decoding and speech synthesis directly connects the neural activity to the means of human linguistic communication, which may greatly enhance the naturalness of communication. With the current discoveries on representation learning and the development of the speech synthesis technologies, direct translation of brain signals into speech has shown great promise. Especially, the processed input features and neural speech embeddings which are given to the neural network play a significant role in the overall performance when using deep generative models for speech generation from brain signals. In this paper, we introduce the current brain-to-speech technology with the possibility of speech synthesis from brain signals, which may ultimately facilitate innovation in non-verbal communication. Also, we perform comprehensive analysis on the neural features and neural speech embeddings underlying the neurophysiological activation while performing speech, which may play a significant role in the speech synthesis works.