Youngsuk Kim

Dong Jun Yeom, Yu Na Hong, Yoojun Kim et al.

This paper describes the Around View Monitoring (AVM) system for hydraulic excavators that prevents the safety accidents caused by blind spots and increases the operational efficiency. To verify the developed system, experiments were conducted with its prototype. The experimental results demonstrate its applicability in the field with the following values: 7m of a visual range, 15fps of image refresh rate, 300ms of working information data reception rate, and 300ms of surface condition data reception rate.

Suhyeok Jang, Dongyoung Kim, Changyeon Kim et al.

Vision-Language-Action models (VLAs) have demonstrated remarkable performance in robot control. However, they remain fundamentally limited in tasks that require high precision due to their single-inference paradigm. While test-time scaling approaches using external verifiers have shown promise, they require additional training and fail to generalize to unseen conditions. We propose Masking Distribution Guided Selection (MG-Select), a novel test-time scaling framework for VLAs that leverages the model's internal properties without requiring additional training or external modules. Our approach utilizes KL divergence from a reference action token distribution as a confidence metric for selecting the optimal action from multiple candidates. We introduce a reference distribution generated by the same VLA but with randomly masked states and language conditions as inputs, ensuring maximum uncertainty while remaining aligned with the target task distribution. Additionally, we propose a joint training strategy that enables the model to learn both conditional and unconditional distributions by applying dropout to state and language conditions, thereby further improving the quality of the reference distribution. Our experiments demonstrate that MG-Select achieves significant performance improvements, including a 28%/35% improvement in real-world in-distribution/out-of-distribution tasks, along with a 168% relative gain on RoboCasa pick-and-place tasks trained with 30 demonstrations.

Youngsuk Kim, Junghwan Lim, Hyuk-Jae Lee et al.

The model size growth of personalized recommendation systems poses new challenges for inference. Weight-sharing algorithms have been proposed for size reduction, but they increase memory access. Recent advancements in processing-in-memory (PIM) enhanced the model throughput by exploiting memory parallelism, but such algorithms introduce massive CPU-PIM communication into prior PIM systems. We propose ProactivePIM, a PIM system for weight-sharing recommendation system acceleration. ProactivePIM integrates a cache within the PIM with a prefetching scheme to leverage a unique locality of the algorithm and eliminate communication overhead through a subtable mapping strategy. ProactivePIM achieves a 4.8x speedup compared to prior works.