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Author

Jaehyun Jang

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Preprint Sep 2026

Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library

Recent humanoid soccer systems make motion tracking the substrate and derive locomotion from it, typically by steering a motion-reference anchor toward the ball. This yields strong shooting results, but locomotion is trained only on the narrow, deterministic command distribution ball approach induces, never evaluated a...

Abu Hanif Muhammad Syarubany, Jaehyun Jang, Hwanhee Kim et al. · 0 citations
#small language model Preprint Sep 2026

Event-Driven Refresh and Recurrence Memory to Reduce Stale Grounding in Referring Video Object Segmentation

End-to-end runtime analysis further confirms that the overhead introduced by tracking, CLIP-based recurrence matching, and the identifiability gate remains modest relative to the dominant Sa2VA inference cost, thereby validating the efficiency of the proposed pipeline.

Abu Hanif Muhammad Syarubany, Jaehyun Jang, Si-Woo Lim et al. · 0 citations
Open access Aug 2026

Action- and Language-Conditioned Video Assessment for Embodied Control

ALVA (Action- and Language-Conditioned Video Assessment), a trajectory evaluator that conditions its assessment on visual observations, the executed action sequence, and the natural language instruction, provides more effective feedback than the evaluated static image and embedding-based visual baselines and reduces th...

Hwanhee Kim, Jaehyun Jang, Seung-Min Cha et al. · 0 citations

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