103 citations · 105 across the 12 of their papers we have counts for
12 papers
CODA: Depth-Aligned Scene Completion and Object Decomposition from a Single RGB-D Image
Dongwon Son, Junhyek Han, Yoontae Cho +5
Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial observations. Methods that detect objects in 2D and reconstruct them inde…
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Dongwon Son, Florian Shkurti, Jason Lee +3
A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robo…
Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree search
Dongryung Lee, Sejune Joo, Kimin Lee +1
The problem of relocating a set of objects to designated areas amidst movable obstacles can be framed as a Geometric Task and Motion Planning (G-TAMP) problem, a subclass of task a…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments
Yoonyoung Cho, Junhyek Han, Jisu Han +1
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspab…
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
Jaehyung Kim, Jiho Kim, Dongryung Lee +2
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots a…
PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation
Mingyo Seo, Yoonyoung Cho, Yoonchang Sung +3
We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approxi…
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…
An intuitive multi-frequency feature representation for SO(3)-equivariant networks
Dongwon Son, Jaehyung Kim, Sanghyeon Son +1
The usage of 3D vision algorithms, such as shape reconstruction, remains limited because they require inputs to be at a fixed canonical rotation. Recently, a simple equivariant net…
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects
Yoonyoung Cho, Junhyek Han, Yoontae Cho +1
Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in c…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
Minchan Kim, Junhyek Han, Jaehyung Kim +1
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate a…