14 citations · 18 across the 4 of their papers we have counts for
4 papers · 1 filter
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…
Reinforcement Learning for Vision-based Object Manipulation with Non-parametric Policy and Action Primitives
Dongwon Son, Myungsin Kim, Jaecheol Sim +1
The object manipulation is a crucial ability for a service robot, but it is hard to solve with reinforcement learning due to some reasons such as sample efficiency. In this paper,…
Grasping as Inference: Reactive Grasping in Heavily Cluttered Environment
Dongwon Son
Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp…
Fast and Accurate Data-Driven Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly Tasks
Jaemin Yoon, Minji Lee, Dongwon Son +1
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-…