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…
CLaD: Planning with Grounded Foresight via Cross-Modal Latent Dynamics
Andrew Jeong, Jaemin Kim, Sebin Lee +1
Robotic manipulation involves kinematic and semantic transitions that are inherently coupled via underlying actions. However, existing approaches plan within either semantic or lat…
Visual-RRT: Finding Paths toward Visual-Goals via Differentiable Rendering
Sebin Lee, Jumin Lee, Taeyeon Kim +3
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners re…
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…