7 citations · 10 across the 6 of their papers we have counts for
11 papers
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay +1
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamic…
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard +2
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must…
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas +1
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or…
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Binghan He, Jaemin Lee, Ufuk Topcu +1
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for…
Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model
Junhyeok Ahn, Jaemin Lee, Luis Sentis
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous…
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
Jaemin Lee, Efstathios Bakolas, Luis Sentis
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics…