Author

N. Kwak

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Preprint Oct 2026

3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability

Robot manipulation models primarily reason from 2D observations while acting in the 3D physical world. To bridge this gap, recent work has augmented robot data with geometric priors such as depth, point clouds, and 3D trajectories, while renderable 3D Gaussian representations provide another promising form of 3D superv...

W. Cho, Junhoo Lee, N. Kwak · 0 citations

#natural language process... Review Oct 2026

Efficient Task Adaptation in Large Language Models: A Survey of Weight-Based, Prompt-Based, and Embedding-Based Adaptations

As large language models are increasingly deployed across diverse downstream tasks, efficient task adaptation has emerged as a central challenge. In response, a wide range of task adaptation methods have been proposed, spanning parameter-efficient fine-tuning, in-context learning, and embedding-injection approaches. Ho...

Jungwon Park, Changin Choi, Jimyeong Kim et al. · 0 citations

#machine learning Preprint Sep 2026

MoARa: Module-Aware Rank Allocation and Structure-Preserving Decomposition for Low-Rank LLM Pre-training

Low-rank gradient projection reduces the optimizer-state memory cost of large language model (LLM) pretraining, but the steps and wall-clock time needed to reach a target quality remain a meaningful axis for improvement. We attribute this to two design choices in existing methods: the projection-rank budget is allocate...

Keun-sik Kim, N. Kwak · 0 citations