Jeong Woon Lee

Shiyi Sun, Geoff K. Nicholls, Jeong Eun Lee

Generalized Bayesian Inference (GBI) tempers a loss with a temperature $β>0$ to mitigate overconfidence and improve robustness under model misspecification, but existing GBI methods typically rely on costly MCMC or SDE-based samplers and must be re-run for each new dataset and each $β$ value. We give the first fully amortized variational approximation to the tempered posterior family $p_β(θ\mid x) \propto π(θ)\,p(x \mid θ)^β$ by training a single $(x,β)$-conditioned neural posterior estimator $q_φ(θ\mid x,β)$ that enables sampling in a single forward pass, without simulator calls or inference-time MCMC. We introduce two complementary training routes: (i) synthesize off-manifold samples $(θ,x) \sim π(θ)\,p(x \mid θ)^β$ and (ii) reweight a fixed base dataset $π(θ)\,p(x \mid θ)$ using self-normalized importance sampling (SNIS). We show that the SNIS-weighted objective provides a consistent forward-KL fit to the tempered posterior with finite weight variance. Across four standard simulation-based inference (SBI) benchmarks, including the chaotic Lorenz-96 system, our $β$-amortized estimator achieves competitive posterior approximations in standard two-sample metrics, matching non-amortized MCMC-based power-posterior samplers over a wide range of temperatures.

Jeong Woon Lee, Kyoleen Kwak, Daeho Kim et al.

Policies learned via continuous actor-critic methods often exhibit erratic, high-frequency oscillations, making them unsuitable for physical deployment. Current approaches attempt to enforce smoothness by directly regularizing the policy's output. We argue that this approach treats the symptom rather than the cause. In this work, we theoretically establish that policy non-smoothness is fundamentally governed by the differential geometry of the critic. By applying implicit differentiation to the actor-critic objective, we prove that the sensitivity of the optimal policy is bounded by the ratio of the Q-function's mixed-partial derivative (noise sensitivity) to its action-space curvature (signal distinctness). To empirically validate this theoretical insight, we introduce PAVE (Policy-Aware Value-field Equalization), a critic-centric regularization framework that treats the critic as a scalar field and stabilizes its induced action-gradient field. PAVE rectifies the learning signal by minimizing the Q-gradient volatility while preserving local curvature. Experimental results demonstrate that PAVE achieves smoothness and robustness comparable to policy-side smoothness regularization methods, while maintaining competitive task performance, without modifying the actor.

Kyoleen Kwak, Daeho Kim, Jeong Woon Lee et al.

Accurate LiDAR-camera calibration is essential for robust multi-modal perception. Targetless approaches avoid manual setup but remain limited by the scarcity of discriminative cross-modal features. Recent methods address this by reconstructing the scene within a differentiable model, enabling extrinsic optimization through dense photometric supervision. Among these, 3D Gaussian Splatting (3DGS) has been widely adopted as a geometric proxy that bridges LiDAR and camera within a single differentiable framework. However, since 3DGS was originally designed for novel view synthesis, existing methods tend to prioritize rendering quality, causing the proxy geometry to drift from the true LiDAR structure. We propose a framework that preserves the metric geometry of the Gaussian proxy by aggregating multi-view LiDAR observations for dense depth supervision and blocking photometric gradients from updating the Gaussian spatial parameters. We validate our method on public driving datasets, where it consistently outperforms existing targetless methods in calibration accuracy.