9 papers
Distilling Collaborative Dynamics into Latent Space for Implicit Coordination in Decentralized Multi-Agent Manipulation
Chanyoung Park, Minsung Yoon, Andrew Jeong +1
Multi-arm manipulation demands precise spatiotemporal coordination, yet many centralized approaches scale poorly as team size increases. To address this, we propose CLS-DP, a decen…
HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments
Jeil Jeong, Minsung Yoon, Seokryun Choi +3
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and pos…
Phase-Aware Policy Learning for Skateboard Riding of Quadruped Robots via Feature-wise Linear Modulation
Minsung Yoon, Jeil Jeong, Sung-Eui Yoon
Skateboards offer a compact and efficient means of transportation as a type of personal mobility device. However, controlling them with legged robots poses several challenges for p…
DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation
Xiangchen Liu, Hanghan Zheng, Jeil Jeong +5
Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on…
Beyond the Patch: Exploring Vulnerabilities of Visuomotor Policies via Viewpoint-Consistent 3D Adversarial Object
Chanmi Lee, Minsung Yoon, Woojae Kim +2
Neural network-based visuomotor policies enable robots to perform manipulation tasks but remain susceptible to perceptual attacks. For example, conventional 2D adversarial patches…
Enhancing Navigation Efficiency of Quadruped Robots via Leveraging Personal Transportation Platforms
Minsung Yoon, Sung-Eui Yoon
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Acti…