Sangdoo Yun (@oodgnas) profile picture

Research director @ Naver AI Lab

Joined January 2010
Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)Photo by Sangdoo Yun (@oodgnas)
Come to see WATCH at the Scaling H2R Workshop @ CoRL 2026! 🤖 We pretrain world-action models by predicting across task-paired human videos, to enable generalized in-context ability for robots. Project page: watch-wam.github.io/ H2R WS: scaling-h2r-corl.github.io/
What can robots learn from WATCHing different people do the same task? Robot data for in-context imitation is costly, so WATCH pre-trains world-action model on human videos only. MimicDroid in-context success: 40.9% → 68.3% watch-wam.github.io/
1
4
189
Sangdoo Yun retweeted
Replying to @a_uselis
Agreed. Perhaps, Astra knows about ML techniques too much, so it can translate previous works (actv steering, suprpesion, or repretition problem of qwen's reasoning etc) to its constrained environment (no backprop or so)
1
2
138
Really cool work. I read the qwen-math exp: Astra uses training examples (input, labels) and activations (like `model.layers.{l}.mlp.down_proj.weight`) -> statistically diagnose -> edit suspicious neurons. Another kind of optimization
We asked GPT-6 Astra to edit Qwen3.5-0.8B weights to improve math. It directly changed only 0.016% of weights, fixing 0.8B's reasoning loops & improving math up to 6x and even instruction following 3x, without gradients or training. We call this Weight-Space Programming: frontier LLMs can now natively read/write neural network weights! 🧵 Blog: rikiyat.github.io/blog/weigh…
Readers added context they thought people might want to know
LLM was given weights explicitly as text in prompt and used code/forward passes (per authors' logs) to ablate Qwen looping direction, a known thinking-mode issue per model card. Primarily fixed repetition in that mode, not general 'natively' improving weights/math. rikiyat.github.io/blog/weight-sp… github.com/RikiyaT/lm_und… huggingface.co/Qwen/Qwen3.5-0… huggingface.co/RikiyaT/Qwen3.…
2
1
11
721
Even if we allow backprop, such diagnoses from frontier LLMs will still be very helpful to update models
1
78
Sangdoo Yun retweeted
💡 Many discoveries come from connecting ideas across fields. Can AI find these connections? 🐝 Introducing CPR-Dataset for cross-pollination retrieval. 1. Existing retrievers fail (best: 0.26 Recall@10). 2. Training on it transfers, up to +33% on AnaloBench and +70% on BRIGHT.
2
8
1
23
1,298
a world model that takes robot actions in plain english just planned 13.9x faster than a video-gen world model 🗣️ LaLa-World writes actions and visual changes as text, so one latent world model trains on sim, robot data, and video. 🧠 one model beats per-domain latent world models at planning ⚡ matches a video-gen baseline at 6x less training cost 🤖 fine-tunes into a policy on par with Cosmos Policy, up to 5.5x faster Why it matters: language could be the action space that lets world models train on everything.
4
5
1
19
952
Very interesting idea and implementation, especially the special token tricks, <copy> and <sink>.
⌘C ⌘V: Introducing Copy-Paste Language Models! CPLMs learn to copy tokens better, improving downstream accuracy, CoT, long-context performance, and memory-efficiency for RAG at <3% overhead PS: they (partially) mitigate the LM head bottleneck Paper: arxiv.org/abs/2610.19247
1
6
605
Sangdoo Yun retweeted
AR/VR world models will need to generate ultra-high-res video in real time. But as resolution-and token count-grow, generation quickly becomes prohibitively slow. This paper offers a clever idea worth exploring: stop spending compute on tokens once they converge. Applied spatially, the same principle could focus full compute on key ROIs while passing less important regions through!
Does every token need to be denoised until the final step? 🤔 No! We introduce ⚡Speculative Forcing⚡, which accepts tokens as soon as they converge and keeps denoising only the rest Project page: speculative-forcing.github.i… 🧵 (1/n)
1
15
898
Sangdoo Yun retweeted
Does every token need to be denoised until the final step? 🤔 No! We introduce ⚡Speculative Forcing⚡, which accepts tokens as soon as they converge and keeps denoising only the rest Project page: speculative-forcing.github.i… 🧵 (1/n)
5
7
1
24
1,598
What can robots learn from WATCHing different people do the same task? Robot data for in-context imitation is costly, so WATCH pre-trains world-action model on human videos only. MimicDroid in-context success: 40.9% → 68.3% watch-wam.github.io/
1
3
1
10
639
Per collection budget, scaling human videos matches or beats scaling robot data. Assuming robot video costs 8× more to collect (we sweep 4–16×), pre-training on all human pairs reaches 72.5% on in-context L2. The largest robot-pair run gets 49.0% at ~2× the budget.
1
30
Introducing Code Video Model 🎬 Amazing work led by @raywzy1 and the team! Agentic coding as the engine for controllable video generation. Scene layout, motion, timing, camera trajectories, and physical dynamics, all in editable code. A coding agent turns prompts into executable programs that render proxy videos. Our training-free early-step conditioning lets a pretrained video model follow the proxy’s structure while adopting a reference image’s appearance. From physics-grounded motion and bullet time to 3D/4D reconstruction and robotics simulation, it all starts with code. Watch the demo and explore more visual results 👇 Project page: code-video-model.github.io/ Paper: code-video-model.github.io/t… Code: github.com/code-video-model/… Data: huggingface.co/datasets/code… Youtube: youtube.com/watch?v=dTtiVkSR…
47
88
18
575
40,825
Sangdoo Yun retweeted
[CL] Revisiting Complete Reasoning Traces for Post-Training J Hwang, S Yun, B Heo, D Han [NAVER AI Lab] (2026) arxiv.org/abs/2609.07103
8
21
1,483
Sangdoo Yun retweeted
You mean like so: arxiv.org/abs/2604.01220
now slap some recurrent depth tech on top of this
2
8
89
8,162
Sangdoo Yun retweeted
Nice to see this idea getting attention! This is essentially what we called "depth-wise batching": overlapping requests at different recurrent depths (much higher utilization with adaptive compute). Recursive Models: arxiv.org/abs/2410.20672 MoR: arxiv.org/abs/2507.10524
a few thoughts on "recurrent depth" transformers the main question: why recurrent depth instead of just scaling depth? it's not faster at inference or training* since you still go through the full "effective depth", the advantage is storage (for kv cache storage btw you could do kv sharing) and a few other things i tried to list below 1) could be better in undertrained regimes (too few data or compute constraints) but i don't think any frontier model is in this regime? could also help convergence somehow, maybe it's just not possible to train a 10T effective param model (so maybe 2Tx5) without tricks like this, but i doubt it.. 2) one positive aspect could be better adaptive depth/compute (which is a good direction imo): depending on the token, you skip some recurrent blocks. but you could also just skip layers (or skip moe routing like in longcat flash) and get something quite similar you could also imagine co-training models this way, sol with 8 blocks, terra with 4, luna with 2 or something like that 3) another interesting thing (to verify?): you could simulate higher batch size at inference by overlapping the computation of depth_block=1 of request 1 and depth_block=t of request 2 on the same gpus, so effective batch size = batch size * number of recurrent blocks (and you could even overlap across models if you do the co-training i mentioned above!), see the picture attached for an illustration of what i mean still quite skeptical overall, i think scaling depth is just more expressive when you are not compute/data bound but excited to see a potential new direction *on "faster to train", could be if you only backprop through the last few loops or something like that
1
27
3
223
19,539