Author

Ahin Lee

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#artificial intelligence Preprint Oct 2026

Adapting Vision-Language-Action Models to Unknown Visual Disruptions During Execution

Visual disruptions can arise while a robot is executing a task, leaving a vision-language-action (VLA) policy to respond without knowing the disruption type or timing. We introduce Self-supervised Adaptation from Leftover Trajectories (SALT), which uses the leftover trajectory, the unexecuted part of the previous actio...

Ahin Lee, Jinwoo Seo, Youngsoo Jang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

ACE: Adapter Consolidation across Experts for Parameter-Efficient Fine-Tuning of MoE LLMs

The proposed ACE (Adapter Consolidation across Experts), which groups redundant experts and replaces their expert-specific adapters with group-shared higher-rank LoRA modules under the same PEFT budget, achieves the highest observed mean accuracy among the parameter-matched PEFT methods on the three backbones with comp...

Ahin Lee, Sehyun Yun, Joonha Park et al. · 0 citations