4 papers · 1 filter
LEGO: Latent-space Exploration for Geometry-aware Optimization of Humanoid Kinematic Design
Jihwan Yoon, Taemoon Jeong, Jeongeun Park +5
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path to…
Learning Dexterous Grasping from Sparse Taxonomy Guidance
Juhan Park, Taerim Yoon, Seungmin Kim +10
Dexterous manipulation requires planning a grasp configuration suited to the object and task, which is then executed through coordinated multi-finger control. However, specifying g…
Hierarchical Vision Language Action Model Using Success and Failure Demonstrations
Jeongeun Park, Jihwan Yoon, Byungwoo Jeon +6
Prior Vision-Language-Action (VLA) models are typically trained on teleoperated successful demonstrations, while discarding numerous failed attempts that occur naturally during dat…
Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications
Chanwoo Kim, Jihwan Yoon, Hyeonseong Kim +9
Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that in…