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1. HyperCLOVA X Technical Report

Author

Yoo, Kang Min, Han, Jaegeun, In, Sookyo, Jeon, Heewon, Jeong, Jisu, Kang, Jaewook, Kim, Hyunwook, Kim, Kyung-Min, Kim, Munhyong, Kim, Sungju, Kwak, Donghyun, Kwak, Hanock, Kwon, Se Jung, Lee, Bado, Lee, Dongsoo, Lee, Gichang, Lee, Jooho, Park, Baeseong, Shin, Seongjin, Yu, Joonsang, Baek, Seolki, Byeon, Sumin, Cho, Eungsup, Choe, Dooseok, Han, Jeesung, Jin, Youngkyun, Jun, Hyein, Jung, Jaeseung, Kim, Chanwoong, Kim, Jinhong, Kim, Jinuk, Lee, Dokyeong, Park, Dongwook, Sohn, Jeong Min, Han, Sujung, Heo, Jiae, Hong, Sungju, Jeon, Mina, Jung, Hyunhoon, Jung, Jungeun, Jung, Wangkyo, Kim, Chungjoon, Kim, Hyeri, Kim, Jonghyun, Kim, Min Young, Lee, Soeun, Park, Joonhee, Shin, Jieun, Yang, Sojin, Yoon, Jungsoon, Lee, Hwaran, Bae, Sanghwan, Cha, Jeehwan, Gylleus, Karl, Ham, Donghoon, Hong, Mihak, Hong, Youngki, Hong, Yunki, Jang, Dahyun, Jeon, Hyojun, Jeon, Yujin, Jeong, Yeji, Ji, Myunggeun, Jin, Yeguk, Jo, Chansong, Joo, Shinyoung, Jung, Seunghwan, Kim, Adrian Jungmyung, Kim, Byoung Hoon, Kim, Hyomin, Kim, Jungwhan, Kim, Minkyoung, Kim, Minseung, Kim, Sungdong, Kim, Yonghee, Kim, Youngjun, Kim, Youngkwan, Ko, Donghyeon, Lee, Dughyun, Lee, Ha Young, Lee, Jaehong, Lee, Jieun, Lee, Jonghyun, Lee, Jongjin, Lee, Min Young, Lee, Yehbin, Min, Taehong, Min, Yuri, Moon, Kiyoon, Oh, Hyangnam, Park, Jaesun, Park, Kyuyon, Park, Younghun, Seo, Hanbae, Seo, Seunghyun, Sim, Mihyun, Son, Gyubin, Yeo, Matt, Yeom, Kyung Hoon, Yoo, Wonjoon, You, Myungin, Ahn, Doheon, Ahn, Homin, Ahn, Joohee, Ahn, Seongmin, An, Chanwoo, An, Hyeryun, An, Junho, An, Sang-Min, Byun, Boram, Byun, Eunbin, Cha, Jongho, Chang, Minji, Chang, Seunggyu, Cho, Haesong, Cho, Youngdo, Choi, Dalnim, Choi, Daseul, Choi, Hyoseok, Choi, Minseong, Choi, Sangho, Choi, Seongjae, Choi, Wooyong, Chun, Sewhan, Go, Dong Young, Ham, Chiheon, Han, Danbi, Han, Jaemin, Hong, Moonyoung, Hong, Sung Bum, Hwang, Dong-Hyun, Hwang, Seongchan, Im, Jinbae, Jang, Hyuk Jin, Jang, Jaehyung, Jang, Jaeni, Jang, Sihyeon, Jang, Sungwon, Jeon, Joonha, Jeong, Daun, Jeong, Joonhyun, Jeong, Kyeongseok, Jeong, Mini, Jin, Sol, Jo, Hanbyeol, Jo, Hanju, Jo, Minjung, Jung, Chaeyoon, Jung, Hyungsik, Jung, Jaeuk, Jung, Ju Hwan, Jung, Kwangsun, Jung, Seungjae, Ka, Soonwon, Kang, Donghan, Kang, Soyoung, Kil, Taeho, Kim, Areum, Kim, Beomyoung, Kim, Byeongwook, Kim, Daehee, Kim, Dong-Gyun, Kim, Donggook, Kim, Donghyun, Kim, Euna, Kim, Eunchul, Kim, Geewook, Kim, Gyu Ri, Kim, Hanbyul, Kim, Heesu, Kim, Isaac, Kim, Jeonghoon, Kim, Jihye, Kim, Joonghoon, Kim, Minjae, Kim, Minsub, Kim, Pil Hwan, Kim, Sammy, Kim, Seokhun, Kim, Seonghyeon, Kim, Soojin, Kim, Soong, Kim, Soyoon, Kim, Sunyoung, Kim, Taeho, Kim, Wonho, Kim, Yoonsik, Kim, You Jin, Kim, Yuri, Kwon, Beomseok, Kwon, Ohsung, Kwon, Yoo-Hwan, Lee, Anna, Lee, Byungwook, Lee, Changho, Lee, Daun, Lee, Dongjae, Lee, Ha-Ram, Lee, Hodong, Lee, Hwiyeong, Lee, Hyunmi, Lee, Injae, Lee, Jaeung, Lee, Jeongsang, Lee, Jisoo, Lee, Jongsoo, Lee, Joongjae, Lee, Juhan, Lee, Jung Hyun, Lee, Junghoon, Lee, Junwoo, Lee, Se Yun, Lee, Sujin, Lee, Sungjae, Lee, Sungwoo, Lee, Wonjae, Lee, Zoo Hyun, Lim, Jong Kun, Lim, Kun, Lim, Taemin, Na, Nuri, Nam, Jeongyeon, Nam, Kyeong-Min, Noh, Yeonseog, Oh, Biro, Oh, Jung-Sik, Oh, Solgil, Oh, Yeontaek, Park, Boyoun, Park, Cheonbok, Park, Dongju, Park, Hyeonjin, Park, Hyun Tae, Park, Hyunjung, Park, Jihye, Park, Jooseok, Park, Junghwan, Park, Jungsoo, Park, Miru, Park, Sang Hee, Park, Seunghyun, Park, Soyoung, Park, Taerim, Park, Wonkyeong, Ryu, Hyunjoon, Ryu, Jeonghun, Ryu, Nahyeon, Seo, Soonshin, Seo, Suk Min, Shim, Yoonjeong, Shin, Kyuyong, Shin, Wonkwang, Sim, Hyun, Sim, Woongseob, Soh, Hyejin, Son, Bokyong, Son, Hyunjun, Son, Seulah, Song, Chi-Yun, Song, Chiyoung, Song, Ka Yeon, Song, Minchul, Song, Seungmin, Wang, Jisung, Yeo, Yonggoo, Yi, Myeong Yeon, Yim, Moon Bin, Yoo, Taehwan, Yoo, Youngjoon, Yoon, Sungmin, Yoon, Young Jin, Yu, Hangyeol, Yu, Ui Seon, Zuo, Xingdong, Bae, Jeongin, Bae, Joungeun, Cho, Hyunsoo, Cho, Seonghyun, Cho, Yongjin, Choi, Taekyoon, Choi, Yera, Chung, Jiwan, Han, Zhenghui, Heo, Byeongho, Hong, Euisuk, Hwang, Taebaek, Im, Seonyeol, Jegal, Sumin, Jeon, Sumin, Jeong, Yelim, Jeong, Yonghyun, Jiang, Can, Jiang, Juyong, Jin, Jiho, Jo, Ara, Jo, Younghyun, Jung, Hoyoun, Jung, Juyoung, Kang, Seunghyeong, Kim, Dae Hee, Kim, Ginam, Kim, Hangyeol, Kim, Heeseung, Kim, Hyojin, Kim, Hyojun, Kim, Hyun-Ah, Kim, Jeehye, Kim, Jin-Hwa, Kim, Jiseon, Kim, Jonghak, Kim, Jung Yoon, Kim, Rak Yeong, Kim, Seongjin, Kim, Seoyoon, Kim, Sewon, Kim, Sooyoung, Kim, Sukyoung, Kim, Taeyong, Ko, Naeun, Koo, Bonseung, Kwak, Heeyoung, Kwon, Haena, Kwon, Youngjin, Lee, Boram, Lee, Bruce W., Lee, Dagyeong, Lee, Erin, Lee, Euijin, Lee, Ha Gyeong, Lee, Hyojin, Lee, Hyunjeong, Lee, Jeeyoon, Lee, Jeonghyun, Lee, Jongheok, Lee, Joonhyung, Lee, Junhyuk, Lee, Mingu, Lee, Nayeon, Lee, Sangkyu, Lee, Se Young, Lee, Seulgi, Lee, Seung Jin, Lee, Suhyeon, Lee, Yeonjae, Lee, Yesol, Lee, Youngbeom, Lee, Yujin, Li, Shaodong, Liu, Tianyu, Moon, Seong-Eun, Moon, Taehong, Nihlenramstroem, Max-Lasse, Oh, Wonseok, Oh, Yuri, Park, Hongbeen, Park, Hyekyung, Park, Jaeho, Park, Nohil, Park, Sangjin, Ryu, Jiwon, Ryu, Miru, Ryu, Simo, Seo, Ahreum, Seo, Hee, Seo, Kangdeok, Shin, Jamin, Shin, Seungyoun, Sin, Heetae, Wang, Jiangping, Wang, Lei, Xiang, Ning, Xiao, Longxiang, Xu, Jing, Yi, Seonyeong, Yoo, Haanju, Yoo, Haneul, Yoo, Hwanhee, Yu, Liang, Yu, Youngjae, Yuan, Weijie, Zeng, Bo, Zhou, Qian, Cho, Kyunghyun, Ha, Jung-Woo, Park, Joonsuk, Hwang, Jihyun, Kwon, Hyoung Jo, Kwon, Soonyong, Lee, Jungyeon, Lee, Seungho, Lim, Seonghyeon, Noh, Hyunkyung, Choi, Seungho, Lee, Sang-Woo, Lim, Jung Hwa, and Sung, Nako

Subjects
Computer Science - Computation and Language, Computer Science - Artificial Intelligence
Abstract

We introduce HyperCLOVA X, a family of large language models (LLMs) tailored to the Korean language and culture, along with competitive capabilities in English, math, and coding. HyperCLOVA X was trained on a balanced mix of Korean, English, and code data, followed by instruction-tuning with high-quality human-annotated datasets while abiding by strict safety guidelines reflecting our commitment to responsible AI. The model is evaluated across various benchmarks, including comprehensive reasoning, knowledge, commonsense, factuality, coding, math, chatting, instruction-following, and harmlessness, in both Korean and English. HyperCLOVA X exhibits strong reasoning capabilities in Korean backed by a deep understanding of the language and cultural nuances. Further analysis of the inherent bilingual nature and its extension to multilingualism highlights the model's cross-lingual proficiency and strong generalization ability to untargeted languages, including machine translation between several language pairs and cross-lingual inference tasks. We believe that HyperCLOVA X can provide helpful guidance for regions or countries in developing their sovereign LLMs., Comment: 44 pages; updated authors list and fixed author names

Published
2024

2. DOCTR: Disentangled Object-Centric Transformer for Point Scene Understanding

Author

Yu, Xiaoxuan, Wang, Hao, Li, Weiming, Wang, Qiang, Cho, Soonyong, and Sung, Younghun

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Artificial Intelligence
Abstract

Point scene understanding is a challenging task to process real-world scene point cloud, which aims at segmenting each object, estimating its pose, and reconstructing its mesh simultaneously. Recent state-of-the-art method first segments each object and then processes them independently with multiple stages for the different sub-tasks. This leads to a complex pipeline to optimize and makes it hard to leverage the relationship constraints between multiple objects. In this work, we propose a novel Disentangled Object-Centric TRansformer (DOCTR) that explores object-centric representation to facilitate learning with multiple objects for the multiple sub-tasks in a unified manner. Each object is represented as a query, and a Transformer decoder is adapted to iteratively optimize all the queries involving their relationship. In particular, we introduce a semantic-geometry disentangled query (SGDQ) design that enables the query features to attend separately to semantic information and geometric information relevant to the corresponding sub-tasks. A hybrid bipartite matching module is employed to well use the supervisions from all the sub-tasks during training. Qualitative and quantitative experimental results demonstrate that our method achieves state-of-the-art performance on the challenging ScanNet dataset. Code is available at https://github.com/SAITPublic/DOCTR.

Published
2024

3. DOR3D-Net: Dense Ordinal Regression Network for 3D Hand Pose Estimation

Author

Mao, Yamin, Liu, Zhihua, Li, Weiming, Cho, SoonYong, Wang, Qiang, and Hao, Xiaoshuai

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Artificial Intelligence
Abstract

Depth-based 3D hand pose estimation is an important but challenging research task in human-machine interaction community. Recently, dense regression methods have attracted increasing attention in 3D hand pose estimation task, which provide a low computational burden and high accuracy regression way by densely regressing hand joint offset maps. However, large-scale regression offset values are often affected by noise and outliers, leading to a significant drop in accuracy. To tackle this, we re-formulate 3D hand pose estimation as a dense ordinal regression problem and propose a novel Dense Ordinal Regression 3D Pose Network (DOR3D-Net). Specifically, we first decompose offset value regression into sub-tasks of binary classifications with ordinal constraints. Then, each binary classifier can predict the probability of a binary spatial relationship relative to joint, which is easier to train and yield much lower level of noise. The estimated hand joint positions are inferred by aggregating the ordinal regression results at local positions with a weighted sum. Furthermore, both joint regression loss and ordinal regression loss are used to train our DOR3D-Net in an end-to-end manner. Extensive experiments on public datasets (ICVL, MSRA, NYU and HANDS2017) show that our design provides significant improvements over SOTA methods.

Published
2024

4. DVI-SLAM: A Dual Visual Inertial SLAM Network

Author

Peng, Xiongfeng, Liu, Zhihua, Li, Weiming, Tan, Ping, Cho, SoonYong, and Wang, Qiang

Subjects
Computer Science - Computer Vision and Pattern Recognition
Abstract

Recent deep learning based visual simultaneous localization and mapping (SLAM) methods have made significant progress. However, how to make full use of visual information as well as better integrate with inertial measurement unit (IMU) in visual SLAM has potential research value. This paper proposes a novel deep SLAM network with dual visual factors. The basic idea is to integrate both photometric factor and re-projection factor into the end-to-end differentiable structure through multi-factor data association module. We show that the proposed network dynamically learns and adjusts the confidence maps of both visual factors and it can be further extended to include the IMU factors as well. Extensive experiments validate that our proposed method significantly outperforms the state-of-the-art methods on several public datasets, including TartanAir, EuRoC and ETH3D-SLAM. Specifically, when dynamically fusing the three factors together, the absolute trajectory error for both monocular and stereo configurations on EuRoC dataset has reduced by 45.3% and 36.2% respectively., Comment: Accepted to ICRA2024

Published
2023

5. IROS 2019 Lifelong Robotic Vision Challenge -- Lifelong Object Recognition Report

Author

She, Qi, Feng, Fan, Liu, Qi, Chan, Rosa H. M., Hao, Xinyue, Lan, Chuanlin, Yang, Qihan, Lomonaco, Vincenzo, Parisi, German I., Bae, Heechul, Brophy, Eoin, Chen, Baoquan, Graffieti, Gabriele, Goel, Vidit, Han, Hyonyoung, Kanagarajah, Sathursan, Kumar, Somesh, Lam, Siew-Kei, Lam, Tin Lun, Ma, Liang, Maltoni, Davide, Pellegrini, Lorenzo, Piyasena, Duvindu, Pu, Shiliang, Sheet, Debdoot, Song, Soonyong, Son, Youngsung, Wang, Zhengwei, Ward, Tomas E., Wu, Jianwen, Wu, Meiqing, Xie, Di, Xu, Yangsheng, Yang, Lin, Zhong, Qiaoyong, and Zhou, Liguang

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Machine Learning, Computer Science - Robotics, Electrical Engineering and Systems Science - Image and Video Processing, Statistics - Machine Learning
Abstract

This report summarizes IROS 2019-Lifelong Robotic Vision Competition (Lifelong Object Recognition Challenge) with methods and results from the top $8$ finalists (out of over~$150$ teams). The competition dataset (L)ifel(O)ng (R)obotic V(IS)ion (OpenLORIS) - Object Recognition (OpenLORIS-object) is designed for driving lifelong/continual learning research and application in robotic vision domain, with everyday objects in home, office, campus, and mall scenarios. The dataset explicitly quantifies the variants of illumination, object occlusion, object size, camera-object distance/angles, and clutter information. Rules are designed to quantify the learning capability of the robotic vision system when faced with the objects appearing in the dynamic environments in the contest. Individual reports, dataset information, rules, and released source code can be found at the project homepage: "https://lifelong-robotic-vision.github.io/competition/"., Comment: 9 pages, 11 figures, 3 tables, accepted into IEEE Robotics and Automation Magazine. arXiv admin note: text overlap with arXiv:1911.06487

Published
2020

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