3 papers
cs.RO2025
NeuralSVCD for Efficient Swept Volume Collision Detection
Dongwon Son, Hojin Jung, Beomjoon Kim
Robot manipulation in unstructured environments requires efficient and reliable Swept Volume Collision Detection (SVCD) for safe motion planning. Traditional discrete methods poten…
cs.RO2024
DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations
Dongwon Son, Sanghyeon Son, Jaehyung Kim +1
We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation alg…
cs.RO2023
Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators
Dongwon Son, Beomjoon Kim
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax m…