3 citations · 5 across the 8 of their papers we have counts for
8 papers
BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
Donghoon Baek, Sang-Hun Kim, Sehoon Ha
Despite advances in reinforcement and imitation learning, achieving both precise control and dynamic whole-body behaviors in long-horizon tasks remains challenging. Existing approa…
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
Donghoon Baek, Amartya Purushottam, Jason J. Choi +1
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation…
Friction-Aware Safety Locomotion for Wheeled-legged Robots using Vision Language Models and Reinforcement Learning
Bo Peng, Donghoon Baek, Qijie Wang +1
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can levera…
Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation
Donghoon Baek, Youngwoo Sim, Amartya Purushottam +2
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational loa…
Online Learning-Based Inertial Parameter Identification of Unknown Object for Model-Based Control of Wheeled Humanoids
Donghoon Baek, Bo Peng, Saurabh Gupta +1
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signa…
A Study of Shared-Control with Force Feedback for Obstacle Avoidance in Whole-body Telelocomotion of a Wheeled Humanoid
DongHoon Baek, Yu Chen, Chang +1
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body co…
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Donghoon Baek, Amartya Purushottam, Joao Ramos
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controller…
Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation
Amartya Purushottam, Yeongtae Jung, Kevin Murphy +2
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could l…