Aligned Novel View Image and Geometry Synthesis via Cross-modal Attention Instillation

We introduce a diffusion-based framework that performs aligned novel view image and geometry generation via a warping-and-inpainting methodology. Unlike prior methods that require dense posed images or pose-embedded generative models limited to in-domain views, our method leverages off-the-shelf geometry predictors to predict partial geometries viewed from reference images, and formulates novel-view synthesis as an inpainting task for both image and geometry. To ensure accurate alignment between generated images and geometry, we propose cross-modal attention distillation, where attention maps from the image diffusion branch are injected into a parallel geometry diffusion branch during both training and inference. This multi-task approach achieves synergistic effects, facilitating geometrically robust image synthesis as well as well-defined geometry prediction. We further introduce proximity-based mesh conditioning to integrate depth and normal cues, interpolating between point cloud and filtering erroneously predicted geometry from influencing the generation process. Empirically, our method achieves high-fidelity extrapolative view synthesis on both image and geometry across a range of unseen scenes, delivers competitive reconstruction quality under interpolation settings, and produces geometrically aligned colored point clouds for comprehensive 3D completion. Project page is available at https://cvlab-kaist.github.io/MoAI.

Force and Speed in a Soft Stewart Platform

Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able to use one third as many mechatronic components as a rigid Stewart platform, while retaining a working payload of 2kg and an open-loop bandwidth greater than 16Hz. We show that the platform is capable of both precise tracing and dynamic disturbance rejection when controlling a ball and sliding puck using a Proportional Integral Derivative (PID) controller. We develop a machine-learning-based kinematics model and demonstrate a functional workspace of roughly 10cm in each translation direction and 28 degrees in each orientation. This 6DoF device has many of the characteristics associated with rigid components - power, speed, and total workspace - while capturing the advantages of soft mechanisms.

CARBD-Ko: A Contextually Annotated Review Benchmark Dataset for Aspect-Level Sentiment Classification in Korean

This paper explores the challenges posed by aspect-based sentiment classification (ABSC) within pretrained language models (PLMs), with a particular focus on contextualization and hallucination issues. In order to tackle these challenges, we introduce CARBD-Ko (a Contextually Annotated Review Benchmark Dataset for Aspect-Based Sentiment Classification in Korean), a benchmark dataset that incorporates aspects and dual-tagged polarities to distinguish between aspect-specific and aspect-agnostic sentiment classification. The dataset consists of sentences annotated with specific aspects, aspect polarity, aspect-agnostic polarity, and the intensity of aspects. To address the issue of dual-tagged aspect polarities, we propose a novel approach employing a Siamese Network. Our experimental findings highlight the inherent difficulties in accurately predicting dual-polarities and underscore the significance of contextualized sentiment analysis models. The CARBD-Ko dataset serves as a valuable resource for future research endeavors in aspect-level sentiment classification.