9 papers
Game-Guided Skill Discovery through Self-Play for Playable Agent Control
Seungeun Rho, Jeonghwan Kim, Xue Bin Peng +1
We present Game-Guided Skill Discovery (GGSD), a framework that uses self-play in games to discover motor skills that are directly playable by humans. Playable skills provide a com…
SceneConductor: 3D Scene Generation from a Single Image with Multi-Agent Orchestration
Jeonghwan Kim, Yushi Lan, Yongwei Chen +3
Generating complete 3D scenes from a single image requires inferring globally consistent geometry, object relationships, and environmental context from inherently ambiguous visual…
Jury Duty: Calibration and Orientation Failures in MLLM-as-a-Judge Under Cultural Ambiguity
Daniel Lee, Harsh Sharma, Eunkyu Park +5
MLLM-as-a-Judge is conventionally validated by agreement with human annotations, but this metric is undefined when the human pool is culturally heterogeneous. We introduce VOIR DIR…
Online Agent-as-a-Judge: Situation-Generating Evaluation for Interactive Agents
Hyogon Ryu, Jeonghwan Kim, Yewon Lim +3
Evaluating LLM-powered interactive social agents is challenging because socially relevant behaviors depend not only on isolated outputs, but also on prior interactions, social role…
LineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts
Seungeun Rho, Shamel Fahmi, Jeonghwan Kim +3
Designing reward functions for agile robotic maneuvers in reinforcement learning remains difficult, and demonstration-based approaches often require reference motions that are unav…
OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction
Junyoung Lee, Inhee Lee, Sookwan Han +9
Robots that assist people must respond promptly and appropriately to human activity, which requires low-latency processing, accurate perception, and anticipation of human motion. T…
Flip Stunts on Bicycle Robots using Iterative Motion Imitation
Jeonghwan Kim, Shamel Fahmi, Seungeun Rho +2
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we…
Switch-JustDance: Benchmarking Whole Body Motion Tracking Controllers Using a Commercial Console Game
Jeonghwan Kim, Wontaek Kim, Yidan Lu +9
Recent advances in whole-body robot control have enabled humanoid and legged robots to perform increasingly agile and coordinated motions. However, standardized benchmarks for eval…
Learning to Transfer Human Hand Skills for Robot Manipulations
Sungjae Park, Seungho Lee, Mingi Choi +4
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information…