Author

Kwanyoung Kim

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#artificial intelligence Preprint Oct 2026

MaDeL: Manifold-Decomposed Feature Losses for Generative Modeling

Generative models are often trained with isotropic objectives such as mean-squared error. For data concentrated near a low-dimensional manifold, however, such losses conflate displacement along the manifold, which may represent valid variation, with displacement away from it, which produces invalid samples. This mismat...

Beomsu Kim, Jong Chul Ye, Kwanyoung Kim · 0 citations

#machine learning Preprint Sep 2026

Adjoint Guidance Flow: Amortized Critic Guidance for VLA Policies

Adjoint Guidance Flow is proposed, which is a deterministic optimal control problem, whose optimal guidance is a costate that carries the terminal critic gradient back through the remaining flow, and regress the guidance network onto this costate while keeping both the VLA and critic frozen.

Jeongsol Kim, Youngjun Jun, Kyumin Choi et al. · 0 citations