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cs.RO2026
Mixture of Flow Matching and Particle Filter for Proprioception-Based Online Contact Estimation
Seo Wook Han, Min Jun Kim
In this article, we propose ContactFlowFilter, a novel approach for contact estimation that determines the number of active contacts, their locations, and the associated force vect…
cs.RO2023
Graph-based 3D Collision-distance Estimation Network with Probabilistic Graph Rewiring
Minjae Song, Yeseung Kim, Min Jun Kim +1
We aim to solve the problem of data-driven collision-distance estimation given 3-dimensional (3D) geometries. Conventional algorithms suffer from low accuracy due to their reliance…