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Nojun Kwak

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24 papers

2 author rows

AAAI Conference 2026 Conference Paper

Targeted Data Protection for Diffusion Model by Matching Training Trajectory

Hojun Lee
Mijin Koo
Yeji Song
Nojun Kwak

Recent advancements in diffusion models have made fine-tuning text-to-image models for personalization increasingly accessible, but have also raised significant concerns regarding unauthorized data usage and privacy infringement. Current protection methods are limited to passively degrading image quality, failing to achieve stable control. While Targeted Data Protection (TDP) offers a promising paradigm for active redirection toward user-specified target concepts, existing TDP attempts suffer from poor controllability due to snapshot-matching approaches that fail to account for complete learning dynamics. We introduce TAFAP (Trajectory Alignment via Fine-tuning with Adversarial Perturbations), the first method to successfully achieve effective TDP by controlling the entire training trajectory. Unlike snapshot-based methods whose protective influence is easily diluted as training progresses, TAFAP employs trajectory-matching inspired by dataset distillation to enforce persistent, verifiable transformations throughout fine-tuning. We validate our method through extensive experiments, demonstrating the first successful targeted transformation in diffusion models with simultaneous control over both identity and visual patterns. TAFAP significantly outperforms existing TDP attempts, achieving robust redirection toward target concepts while maintaining high image quality. This work enables verifiable safeguards and provides a new framework for controlling and tracing alterations in diffusion model outputs.

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NeurIPS Conference 2025 Conference Paper

Deep Edge Filter: Return of the Human-Crafted Layer in Deep Learning

Dongkwan Lee
JunHoo Lee
Nojun Kwak

We introduce the Deep Edge Filter, a novel approach that applies high-pass filtering to deep neural network features to improve model generalizability. Our method is motivated by our hypothesis that neural networks encode task-relevant semantic information in high-frequency components while storing domain-specific biases in low-frequency components of deep features. By subtracting low-pass filtered outputs from original features, our approach isolates generalizable representations while preserving architectural integrity. Experimental results across diverse domains such as Vision, Text, 3D, and Audio demonstrate consistent performance improvements regardless of model architecture and data modality. Analysis reveals that our method induces feature sparsification and effectively isolates high-frequency components, providing empirical validation of our core hypothesis. The code is available at \url{https: //github. com/dongkwani/DeepEdgeFilter}.

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AAAI Conference 2025 Conference Paper

Harmonizing Visual and Textual Embeddings for Zero-Shot Text-to-Image Customization

Yeji Song
Jimyeong Kim
Wonhark Park
Wonsik Shin
Wonjong Rhee
Nojun Kwak

In a surge of text-to-image (T2I) models and their customization methods that generate new images of a user-provided subject, current works focus on alleviating the costs incurred by a lengthy per-subject optimization. These zero-shot customization methods encode the image of a specified subject into a visual embedding which is then utilized alongside the textual embedding for diffusion guidance. The visual embedding incorporates intrinsic information about the subject, while the textual embedding provides a new context. However, the existing methods often 1) generate images with the same pose as an input image, and 2) exhibit deterioration in the subject's identity when facing a pose variation prompt. We first pin down the problem and show that redundant pose information in the visual embedding interferes with the pose indication in the textual embedding. Conversely, the textual embedding also harms the subject's identity which is tightly entangled with the pose in the visual embedding. As a remedy, we propose text-orthogonal visual embedding which effectively harmonizes with the given textual embedding. We also adopt the visual-only embedding and inject the subject's clear features utilizing a self-attention swap. Our method is both effective and robust, offering highly flexible zero-shot generation while effectively maintaining the subject's identity.

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NeurIPS Conference 2025 Conference Paper

Understanding Differential Transformer Unchains Pretrained Self-Attentions

Chaerin Kong
Jiho Jang
Nojun Kwak

Differential Transformer has recently gained significant attention for its impressive empirical performance, often attributed to its ability to perform noise canceled attention. However, precisely how differential attention achieves its empirical benefits remains poorly understood. Moreover, Differential Transformer architecture demands large-scale training from scratch, hindering utilization of open pretrained weights. In this work, we conduct an in-depth investigation of Differential Transformer, uncovering three key factors behind its success: (1) enhanced expressivity via negative attention, (2) reduced redundancy among attention heads, and (3) improved learning dynamics. Based on these findings, we propose DEX, a novel method to efficiently integrate the advantages of differential attention into pretrained language models. By reusing the softmax attention scores and adding a lightweight differential operation on the output value matrix, DEX effectively incorporates the key advantages of differential attention while remaining lightweight in both training and inference. Evaluations confirm that DEX substantially improves the pretrained LLMs across diverse benchmarks, achieving significant performance gains with minimal adaptation data (< 0. 01%).

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AAAI Conference 2024 Conference Paper

Any-Way Meta Learning

JunHoo Lee
Yearim Kim
Hyunho Lee
Nojun Kwak

Although meta-learning seems promising performance in the realm of rapid adaptability, it is constrained by fixed cardinality. When faced with tasks of varying cardinalities that were unseen during training, the model lacks its ability. In this paper, we address and resolve this challenge by harnessing `label equivalence' emerged from stochastic numeric label assignments during episodic task sampling. Questioning what defines ``true" meta-learning, we introduce the ``any-way" learning paradigm, an innovative model training approach that liberates model from fixed cardinality constraints. Surprisingly, this model not only matches but often outperforms traditional fixed-way models in terms of performance, convergence speed, and stability. This disrupts established notions about domain generalization. Furthermore, we argue that the inherent label equivalence naturally lacks semantic information. To bridge this semantic information gap arising from label equivalence, we further propose a mechanism for infusing semantic class information into the model. This would enhance the model's comprehension and functionality. Experiments conducted on renowned architectures like MAML and ProtoNet affirm the effectiveness of our method.

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NeurIPS Conference 2024 Conference Paper

Deep Support Vectors

JunHoo Lee
Hyunho Lee
Kyomin Hwang
Nojun Kwak

Deep learning has achieved tremendous success. However, unlike SVMs, which provide direct decision criteria and can be trained with a small dataset, it still has significant weaknesses due to its requirement for massive datasets during training and the black-box characteristics on decision criteria. This paper addresses these issues by identifying support vectors in deep learning models. To this end, we propose the DeepKKT condition, an adaptation of the traditional Karush-Kuhn-Tucker (KKT) condition for deep learning models, and confirm that generated Deep Support Vectors (DSVs) using this condition exhibit properties similar to traditional support vectors. This allows us to apply our method to few-shot dataset distillation problems and alleviate the black-box characteristics of deep learning models. Additionally, we demonstrate that the DeepKKT condition can transform conventional classification models into generative models with high fidelity, particularly as latent generation models using class labels as latent variables. We validate the effectiveness of DSVs using common datasets (ImageNet, CIFAR10 and CIFAR100) on the general architectures (ResNet and ConvNet), proving their practical applicability.

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ICLR Conference 2024 Conference Paper

Respect the model: Fine-grained and Robust Explanation with Sharing Ratio Decomposition

Sangyu Han
Yearim Kim
Nojun Kwak

The truthfulness of existing explanation methods in authentically elucidating the underlying model's decision-making process has been questioned. Existing methods have deviated from faithfully representing the model, thus susceptible to adversarial attacks. To address this, we propose a novel eXplainable AI (XAI) method called SRD (Sharing Ratio Decomposition), which sincerely reflects the model's inference process, resulting in significantly enhanced robustness in our explanations. Different from the conventional emphasis on the neuronal level, we adopt a vector perspective to consider the intricate nonlinear interactions between filters. We also introduce an interesting observation termed Activation-Pattern-Only Prediction (APOP), letting us emphasize the importance of inactive neurons and redefine relevance encapsulating all relevant information including both active and inactive neurons. Our method, SRD, allows for the recursive decomposition of a Pointwise Feature Vector (PFV), providing a high-resolution Effective Receptive Field (ERF) at any layer.

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ICML Conference 2023 Conference Paper

End-to-End Multi-Object Detection with a Regularized Mixture Model

Jaeyoung Yoo
Hojun Lee 0002
Seunghyeon Seo
Inseop Chung
Nojun Kwak

Recent end-to-end multi-object detectors simplify the inference pipeline by removing hand-crafted processes such as non-maximum suppression (NMS). However, during training, they still heavily rely on heuristics and hand-crafted processes which deteriorate the reliability of the predicted confidence score. In this paper, we propose a novel framework to train an end-to-end multi-object detector consisting of only two terms: negative log-likelihood (NLL) and a regularization term. In doing so, the multi-object detection problem is treated as density estimation of the ground truth bounding boxes utilizing a regularized mixture density model. The proposed end-to-end multi-object Detection with a Regularized Mixture Model (D-RMM) is trained by minimizing the NLL with the proposed regularization term, maximum component maximization (MCM) loss, preventing duplicate predictions. Our method reduces the heuristics of the training process and improves the reliability of the predicted confidence score. Moreover, our D-RMM outperforms the previous end-to-end detectors on MS COCO dataset. Code is available at https: //github. com/lhj815/D-RMM.

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UAI Conference 2023 Conference Paper

MDPose: real-time multi-person pose estimation via mixture density model

Seunghyeon Seo
Jaeyoung Yoo
Jihye Hwang
Nojun Kwak

One of the major challenges in multi-person pose estimation is instance-aware keypoint estimation. Previous methods address this problem by leveraging an off-the-shelf detector, heuristic post-grouping process or explicit instance identification process, hindering further improvements in the inference speed which is an important factor for practical applications. From the statistical point of view, those additional processes for identifying instances are necessary to bypass learning the high-dimensional joint distribution of human keypoints, which is a critical factor for another major challenge, the occlusion scenario. In this work, we propose a novel framework of single-stage instance-aware pose estimation by modeling the joint distribution of human keypoints with a mixture density model, termed as MDPose. Our MDPose estimates the distribution of human keypoints’ coordinates using a mixture density model with an instance-aware keypoint head consisting simply of 8 convolutional layers. It is trained by minimizing the negative log-likelihood of the ground truth keypoints. Also, we propose a simple yet effective training strategy, Random Keypoint Grouping (RKG), which significantly alleviates the underflow problem leading to successful learning of relations between keypoints. On OCHuman dataset, which consists of images with highly occluded people, our MDPose achieves state-of-the-art performance by successfully learning the high-dimensional joint distribution of human keypoints. Furthermore, our MDPose shows significant improvement in inference speed with a competitive accuracy on MS COCO, a widely-used human keypoint dataset, thanks to the proposed much simpler single-stage pipeline.

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NeurIPS Conference 2023 Conference Paper

SHOT: Suppressing the Hessian along the Optimization Trajectory for Gradient-Based Meta-Learning

JunHoo Lee
Jayeon Yoo
Nojun Kwak

In this paper, we hypothesize that gradient-based meta-learning (GBML) implicitly suppresses the Hessian along the optimization trajectory in the inner loop. Based on this hypothesis, we introduce an algorithm called SHOT (Suppressing the Hessian along the Optimization Trajectory) that minimizes the distance between the parameters of the target and reference models to suppress the Hessian in the inner loop. Despite dealing with high-order terms, SHOT does not increase the computational complexity of the baseline model much. It is agnostic to both the algorithm and architecture used in GBML, making it highly versatile and applicable to any GBML baseline. To validate the effectiveness of SHOT, we conduct empirical tests on standard few-shot learning tasks and qualitatively analyze its dynamics. We confirm our hypothesis empirically and demonstrate that SHOT outperforms the corresponding baseline.

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AAAI Conference 2023 Conference Paper

Unifying Vision-Language Representation Space with Single-Tower Transformer

Jiho Jang
Chaerin Kong
DongHyeon Jeon
Seonhoon Kim
Nojun Kwak

Contrastive learning is a form of distance learning that aims to learn invariant features from two related representations. In this work, we explore the hypothesis that an image and caption can be regarded as two different views of the underlying mutual information, and train a model to learn a unified vision-language representation space that encodes both modalities at once in a modality-agnostic manner. We first identify difficulties in learning a one-tower model for vision-language pretraining (VLP), and propose One Representation (OneR) as a simple yet effective framework for our goal. We discover intriguing properties that distinguish OneR from the previous works that have modality-specific representation spaces such as zero-shot localization, text-guided visual reasoning and multi-modal retrieval, and present analyses to provide insights into this new form of multi-modal representation learning. Thorough evaluations demonstrate the potential of a unified modality-agnostic VLP framework.

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ICML Conference 2022 Conference Paper

Variational On-the-Fly Personalization

Jangho Kim
Juntae Lee
Simyung Chang
Nojun Kwak

With the development of deep learning (DL) technologies, the demand for DL-based services on personal devices, such as mobile phones, also increases rapidly. In this paper, we propose a novel personalization method, Variational On-the-Fly Personalization. Compared to the conventional personalization methods that require additional fine-tuning with personal data, the proposed method only requires forwarding a handful of personal data on-the-fly. Assuming even a single personal data can convey the characteristics of a target person, we develop the variational hyper-personalizer to capture the weight distribution of layers that fits the target person. In the testing phase, the hyper-personalizer estimates the model’s weights on-the-fly based on personality by forwarding only a small amount of (even a single) personal enrollment data. Hence, the proposed method can perform the personalization without any training software platform and additional cost in the edge device. In experiments, we show our approach can effectively generate reliable personalized models via forwarding (not back-propagating) a handful of samples.

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IROS Conference 2021 Conference Paper

Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

Jaeseok Choi
Yeji Song
Nojun Kwak

Data augmentation has greatly contributed to improving the performance in image recognition tasks, and a lot of related studies have been conducted. However, data augmentation on 3D point cloud data has not been much explored. 3D label has more sophisticated and rich structural information than the 2D label, so it enables more diverse and effective data augmentation. In this paper, we propose part-aware data augmentation (PA-AUG) that can better utilize rich information of 3D label to enhance the performance of 3D object detectors. PA-AUG divides objects into partitions and stochastically applies five augmentation methods to each local region. It is compatible with existing point cloud data augmentation methods and can be used universally regardless of the detector’s architecture. PA-AUG has improved the performance of state-of-the-art 3D object detector for all classes of the KITTI dataset and has the equivalent effect of increasing the train data by about 2. 5×. We also show that PA-AUG not only increases performance for a given dataset but also is robust to corrupted data. The code is available at https://github.com/sky77764/pa-aug.pytorch

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AAAI Conference 2021 Conference Paper

Self-supervised Pre-training and Contrastive Representation Learning for Multiple-choice Video QA

Seonhoon Kim
Seohyeong Jeong
Eunbyul Kim
Inho Kang
Nojun Kwak

Video Question Answering (Video QA) requires fine-grained understanding of both video and language modalities to answer the given questions. In this paper, we propose novel training schemes for multiple-choice video question answering with a self-supervised pre-training stage and a supervised contrastive learning in the main stage as an auxiliary learning. In the self-supervised pre-training stage, we transform the original problem format of predicting the correct answer into the one that predicts the relevant question to provide a model with broader contextual inputs without any further dataset or annotation. For contrastive learning in the main stage, we add a masking noise to the input corresponding to the ground-truth answer, and consider the original input of the ground-truth answer as a positive sample, while treating the rest as negative samples. By mapping the positive sample closer to the masked input, we show that the model performance is improved. We further employ locally aligned attention to focus more effectively on the video frames that are particularly relevant to the given corresponding subtitle sentences. We evaluate our proposed model on highly competitive benchmark datasets related to multiple-choice video QA: TVQA, TVQA+, and DramaQA. Experimental results show that our model achieves state-of-the-art performance on all datasets. We also validate our approaches through further analyses.

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ECAI Conference 2020 Conference Paper

Feature-Level Ensemble Knowledge Distillation for Aggregating Knowledge from Multiple Networks

Seonguk Park
Nojun Kwak

Knowledge Distillation (KD) aims to transfer knowledge in a teacher-student framework, by providing the predictions of the teacher network to the student network in the training stage to help the student network generalize better. It can use either a teacher with high capacity or an ensemble of multiple teachers. However, the latter is not convenient when one wants to use feature-map-based distillation methods. In this paper, we empirically show that using several non-linear transformation layer cope well with multiple-teacher setting compared to other kinds of feature-map-level distillation methods. Comprehensively, this paper proposes a versatile and powerful training algorithm named FEature-level Ensemble knowledge Distillation (FEED), which aims to transfer the ensemble knowledge using multiple teacher networks. In this study, we introduce a couple of training algorithms that transfer ensemble knowledge to the student at the feature-map-level. Among the feature-map-level distillation methods, using several non-linear transformations in parallel for transferring the knowledge of the multiple teachers helps the student find more generalized solutions. We name this method as parallel FEED, and experimental results on CIFAR-100 and ImageNet show that our method has clear performance enhancements, without introducing any additional parameters or computations at test time. We also show the experimental results of sequentially feeding teacher’s information to the student, hence the name sequential FEED, and discuss the lessons obtained. Additionally, the empirical results on measuring the reconstruction errors at the feature map give hints for the enhancements.

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ICML Conference 2020 Conference Paper

Feature-map-level Online Adversarial Knowledge Distillation

Inseop Chung
Seonguk Park
Jangho Kim
Nojun Kwak

Feature maps contain rich information about image intensity and spatial correlation. However, previous online knowledge distillation methods only utilize the class probabilities. Thus in this paper, we propose an online knowledge distillation method that transfers not only the knowledge of the class probabilities but also that of the feature map using the adversarial training framework. We train multiple networks simultaneously by employing discriminators to distinguish the feature map distributions of different networks. Each network has its corresponding discriminator which discriminates the feature map from its own as fake while classifying that of the other network as real. By training a network to fool the corresponding discriminator, it can learn the other network’s feature map distribution. We show that our method performs better than the conventional direct alignment method such as L1 and is more suitable for online distillation. Also, we propose a novel cyclic learning scheme for training more than two networks together. We have applied our method to various network architectures on the classification task and discovered a significant improvement of performance especially in the case of training a pair of a small network and a large one.

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NeurIPS Conference 2020 Conference Paper

Position-based Scaled Gradient for Model Quantization and Pruning

Jangho Kim
KiYoon Yoo
Nojun Kwak

We propose the position-based scaled gradient (PSG) that scales the gradient depending on the position of a weight vector to make it more compression-friendly. First, we theoretically show that applying PSG to the standard gradient descent (GD), which is called PSGD, is equivalent to the GD in the warped weight space, a space made by warping the original weight space via an appropriately designed invertible function. Second, we empirically show that PSG acting as a regularizer to a weight vector is favorable for model compression domains such as quantization and pruning. PSG reduces the gap between the weight distributions of a full-precision model and its compressed counterpart. This enables the versatile deployment of a model either as an uncompressed mode or as a compressed mode depending on the availability of resources. The experimental results on CIFAR-10/100 and ImageNet datasets show the effectiveness of the proposed PSG in both domains of pruning and quantization even for extremely low bits. The code is released in Github.

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AAAI Conference 2020 Conference Paper

Tell Me What They’re Holding: Weakly-Supervised Object Detection with Transferable Knowledge from Human-Object Interaction

Daesik Kim
Gyujeong Lee
Jisoo Jeong
Nojun Kwak

In this work, we introduce a novel weakly supervised object detection (WSOD) paradigm to detect objects belonging to rare classes that have not many examples using transferable knowledge from human-object interactions (HOI). While WSOD shows lower performance than full supervision, we mainly focus on HOI as the main context which can strongly supervise complex semantics in images. Therefore, we propose a novel module called RRPN (relational region proposal network) which outputs an object-localizing attention map only with human poses and action verbs. In the source domain, we fully train an object detector and the RRPN with full supervision of HOI. With transferred knowledge about localization map from the trained RRPN, a new object detector can learn unseen objects with weak verbal supervision of HOI without bounding box annotations in the target domain. Because the RRPN is designed as an add-on type, we can apply it not only to the object detection but also to other domains such as semantic segmentation. The experimental results on HICO-DET dataset show the possibility that the proposed method can be a cheap alternative for the current supervised object detection paradigm. Moreover, qualitative results demonstrate that our model can properly localize unseen objects on HICO-DET and V-COCO datasets.

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AAAI Conference 2020 Conference Paper

URNet: User-Resizable Residual Networks with Conditional Gating Module

Sangho Lee
Simyung Chang
Nojun Kwak

Convolutional Neural Networks are widely used to process spatial scenes, but their computational cost is ﬁxed and depends on the structure of the network used. There are methods to reduce the cost by compressing networks or varying its computational path dynamically according to the input image. However, since a user can not control the size of the learned model, it is difﬁcult to respond dynamically if the amount of service requests suddenly increases. We propose User-Resizable Residual Networks (URNet), which allows users to adjust the computational cost of the network as needed during evaluation. URNet includes Conditional Gating Module (CGM) that determines the use of each residual block according to the input image and the desired cost. CGM is trained in a supervised manner using the newly proposed scale(cost) loss and its corresponding training methods. UR- Net can control the amount of computation and its inference path according to user’s demand without degrading the accuracy signiﬁcantly. In the experiments on ImageNet, URNet based on ResNet-101 maintains the accuracy of the baseline even when resizing it to approximately 80% of the original network, and demonstrates only about 1% accuracy degradation when using about 65% of the computation.

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NeurIPS Conference 2019 Conference Paper

Consistency-based Semi-supervised Learning for Object detection

Jisoo Jeong
Seungeui Lee
Jeesoo Kim
Nojun Kwak

Making a precise annotation in a large dataset is crucial to the performance of object detection. While the object detection task requires a huge number of annotated samples to guarantee its performance, placing bounding boxes for every object in each sample is time-consuming and costs a lot. To alleviate this problem, we propose a Consistency-based Semi-supervised learning method for object Detection (CSD), which is a way of using consistency constraints as a tool for enhancing detection performance by making full use of available unlabeled data. Specifically, the consistency constraint is applied not only for object classification but also for the localization. We also proposed Background Elimination (BE) to avoid the negative effect of the predominant backgrounds on the detection performance. We have evaluated the proposed CSD both in single-stage and two-stage detectors and the results show the effectiveness of our method.

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AAAI Conference 2019 Conference Paper

Semantic Sentence Matching with Densely-Connected Recurrent and Co-Attentive Information

Seonhoon Kim
Inho Kang
Nojun Kwak

Sentence matching is widely used in various natural language tasks such as natural language inference, paraphrase identification, and question answering. For these tasks, understanding logical and semantic relationship between two sentences is required but it is yet challenging. Although attention mechanism is useful to capture the semantic relationship and to properly align the elements of two sentences, previous methods of attention mechanism simply use a summation operation which does not retain original features enough. Inspired by DenseNet, a densely connected convolutional network, we propose a densely-connected co-attentive recurrent neural network, each layer of which uses concatenated information of attentive features as well as hidden features of all the preceding recurrent layers. It enables preserving the original and the co-attentive feature information from the bottommost word embedding layer to the uppermost recurrent layer. To alleviate the problem of an ever-increasing size of feature vectors due to dense concatenation operations, we also propose to use an autoencoder after dense concatenation. We evaluate our proposed architecture on highly competitive benchmark datasets related to sentence matching. Experimental results show that our architecture, which retains recurrent and attentive features, achieves state-of-the-art performances for most of the tasks.

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NeurIPS Conference 2018 Conference Paper

Genetic-Gated Networks for Deep Reinforcement Learning

Simyung Chang
John Yang
Jaeseok Choi
Nojun Kwak

We introduce the Genetic-Gated Networks (G2Ns), simple neural networks that combine a gate vector composed of binary genetic genes in the hidden layer(s) of networks. Our method can take both advantages of gradient-free optimization and gradient-based optimization methods, of which the former is effective for problems with multiple local minima, while the latter can quickly find local minima. In addition, multiple chromosomes can define different models, making it easy to construct multiple models and can be effectively applied to problems that require multiple models. We show that this G2N can be applied to typical reinforcement learning algorithms to achieve a large improvement in sample efficiency and performance.

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NeurIPS Conference 2018 Conference Paper

Paraphrasing Complex Network: Network Compression via Factor Transfer

Jangho Kim
Seonguk Park
Nojun Kwak

Many researchers have sought ways of model compression to reduce the size of a deep neural network (DNN) with minimal performance degradation in order to use DNNs in embedded systems. Among the model compression methods, a method called knowledge transfer is to train a student network with a stronger teacher network. In this paper, we propose a novel knowledge transfer method which uses convolutional operations to paraphrase teacher's knowledge and to translate it for the student. This is done by two convolutional modules, which are called a paraphraser and a translator. The paraphraser is trained in an unsupervised manner to extract the teacher factors which are defined as paraphrased information of the teacher network. The translator located at the student network extracts the student factors and helps to translate the teacher factors by mimicking them. We observed that our student network trained with the proposed factor transfer method outperforms the ones trained with conventional knowledge transfer methods.

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ICRA Conference 2001 Conference Paper

Disturbance Attenuation in Robot Control

Chong-Ho Choi
Nojun Kwak

We propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of the MBDA structure in Choi et al. (1999) and is applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relatively unaffected by them. The output error due to the gravity or constant disturbance can be completely eliminated by this method in the same way as PID controllers. In addition, this can be easily implemented at a moderate computational cost. We apply this to a two-link robot manipulator and compare its performance with PD and PID controllers. Simulation results show that the proposed method is very effective in controlling robot manipulators.

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