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Jinwoo Park

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5 papers

2 author rows

ICLR Conference 2025 Conference Paper

NeSyC: A Neuro-symbolic Continual Learner For Complex Embodied Tasks in Open Domains

Wonje Choi 0003
Jinwoo Park
Sanghyun Ahn
Daehee Lee 0001
Honguk Woo

We explore neuro-symbolic approaches to generalize actionable knowledge, enabling embodied agents to tackle complex tasks more effectively in open-domain environments. A key challenge for embodied agents is the generalization of knowledge across diverse environments and situations, as limited experiences often confine them to their prior knowledge. To address this issue, we introduce a novel framework, NeSyC, a neuro-symbolic continual learner that emulates the hypothetico-deductive model by continually formulating and validating knowledge from limited experiences through the combined use of Large Language Models (LLMs) and symbolic tools. Specifically, we devise a contrastive generality improvement scheme within NeSyC, which iteratively generates hypotheses using LLMs and conducts contrastive validation via symbolic tools. This scheme reinforces the justification for admissible actions while minimizing the inference of inadmissible ones. Additionally, we incorporate a memory-based monitoring scheme that efficiently detects action errors and triggers the knowledge refinement process across domains. Experiments conducted on diverse embodied task benchmarks—including ALFWorld, VirtualHome, Minecraft, RLBench, and a real-world robotic scenario—demonstrate that NeSyC is highly effective in solving complex embodied tasks across a range of open-domain environments.

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NeurIPS Conference 2025 Conference Paper

SpecEdge: Scalable Edge-Assisted Serving Framework for Interactive LLMs

Jinwoo Park
Seunggeun Cho
Dongsu Han

Large language models (LLMs) power many modern applications, but serving them at scale remains costly and resource-intensive. Current server-centric systems overlook consumer-grade GPUs at the edge. We introduce SpecEdge, an edge-assisted inference framework that splits LLM workloads between edge and server GPUs using a speculative decoding scheme, exchanging only token outputs over the network. SpecEdge employs proactive edge drafting to overlap edge token creation with server verification and pipeline-aware scheduling that interleaves multiple user requests to increase server-side throughput. Experiments show SpecEdge enhances overall cost efficiency by 1. 91× through achieving 2. 22× server throughput, and reduces inter token latency by 11. 24\% compared to a server-only baseline, introducing a scalable, cost-effective paradigm for LLM serving. The code is available at https: //github. com/kaist-ina/specedge

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NeurIPS Conference 2025 Conference Paper

Towards Reliable Code-as-Policies: A Neuro-Symbolic Framework for Embodied Task Planning

Sanghyun Ahn
Wonje Choi
Junyong Lee
Jinwoo Park
Honguk Woo

Recent advances in large language models (LLMs) have enabled the automatic generation of executable code for task planning and control in embodied agents such as robots, demonstrating the potential of LLM-based embodied intelligence. However, these LLM-based code-as-policies approaches often suffer from limited environmental grounding, particularly in dynamic or partially observable settings, leading to suboptimal task success rates due to incorrect or incomplete code generation. In this work, we propose a neuro-symbolic embodied task planning framework that incorporates explicit symbolic verification and interactive validation processes during code generation. In the validation phase, the framework generates exploratory code that actively interacts with the environment to acquire missing observations while preserving task-relevant states. This integrated process enhances the grounding of generated code, resulting in improved task reliability and success rates in complex environments. We evaluate our framework on RLBench and in real-world settings across dynamic, partially observable scenarios. Experimental results demonstrate that our framework improves task success rates by 46. 2\% over Code as Policies baselines and attains over 86. 8\% executability of task-relevant actions, thereby enhancing the reliability of task planning in dynamic environments.

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AAAI Conference 2024 Conference Paper

Risk-Conditioned Reinforcement Learning: A Generalized Approach for Adapting to Varying Risk Measures

Gwangpyo Yoo
Jinwoo Park
Honguk Woo

In application domains requiring mission-critical decision making, such as finance and robotics, the optimal policy derived by reinforcement learning (RL) often hinges on a preference for risk management. Yet, the dynamic nature of risk measures poses considerable challenges to achieving generalization and adaptation of risk-sensitive policies in the context of RL. In this paper, we propose a risk-conditioned RL model that enables rapid policy adaptation to varying risk measures via a unified risk representation, the Weighted Value-at-Risk (WV@R). To sample risk measures that avoid undue optimism, we construct a risk proposal network employing a conditional adversarial auto-encoder and a normalizing flow. This network establishes coherent representations for risk measures, preserving the continuity in terms of the Wasserstein distance on the risk measures. The normalizing flow is used to support non-crossing quantile regression that obtains valid samples for risk measures, and it is also applied to the agent’s critic to ascertain the preservation of monotonicity in quantile estimations. Through experiments with locomotion, finance, and self-driving scenarios, we show that our model is capable of adapting to a range of risk measures, achieving comparable performance to the baseline models individually trained for each measure. Our model often outperforms the baselines, especially in the cases when exploration is required during training but risk-aversion is favored during evaluation.

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IROS Conference 2023 Conference Paper

Risk-Tolerant Task Allocation and Scheduling in Heterogeneous Multi-Robot Teams

Jinwoo Park
Andrew Messing
Harish Ravichandar
Seth Hutchinson 0001

Effective coordination of heterogeneous multi-robot teams requires optimizing allocations, schedules, and motion plans in order to satisfy complex multi-dimensional task requirements. This challenge is exacerbated by the fact that real-world applications inevitably introduce uncertainties into robot capabilities and task requirements. In this paper, we extend our previous work on trait-based time-extended task allocation to account for such uncertainties. Specifically, we leverage the Sequential Probability Ratio Test to develop an algorithm that can guarantee that the probability of failing to satisfy task requirements is below a user-specified threshold. We also improve upon our prior approach by accounting for temporal deadlines in addition to synchronization and precedence constraints in a Mixed-Integer Linear Programming model. We evaluate our approach by benchmarking it against three baselines in a simulated battle domain in a city environment and compare its performance against a state-of-the-art framework in a pandemic-inspired multi-robot service coordination problem. Results demonstrate the effectiveness and advantages of our approach, which leverages redundancies to manage risk while simultaneously minimizing makespan.

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